---
title: "Get Head Pose"
method: GET
path: "/api/state/present_head_pose"
---

# Get Head Pose

`GET /api/state/present_head_pose`

Get the present head pose.

Arguments:
    use_pose_matrix (bool): Whether to use the pose matrix representation (4x4 flattened) or the translation + Euler angles representation (x, y, z, roll, pitch, yaw).
    backend (Backend): The backend instance.

Returns:
    AnyPose: The present head pose.

## Query parameters

- `use_pose_matrix` boolean

## Response `200`

Successful Response

- union
  - XYZRPYPose — Represent a 3D pose using position (x, y, z) in meters and orientation (roll, pitch, yaw) angles in radians.
    - `x` number
    - `y` number
    - `z` number
    - `roll` number
    - `pitch` number
    - `yaw` number
  - Matrix4x4Pose — Represent a 3D pose by its 4x4 transformation matrix (translation is expressed in meters).
    - `m` unknown[], required
      - unknown

## Other responses

- `422` — Validation Error

---

[API](https://skmtc.net/pollen-robotics/apis/reachy-mini-rest-api.md) · [All operations](https://skmtc.net/pollen-robotics/apis/reachy-mini-rest-api/llms.txt) · [OpenAPI document](https://skmtc-service-staging.skmtc.workers.dev/v1/apis/pollen-robotics/reachy-mini-rest-api/versions/9843f2902e88/schema)