Comment by xavier12358 for That's the start and goal state of the PlanningScene in the Rviz MotionPlanning plugin. I am not sure that it is published anywhere, although you could add that functionality yourself. It is just a GUI, not the actual planning engine.You could try pressing the Plan button in the Rviz plugin and read the MotionPlanRequest that is sent to the move_group capability. That should contain the start and goal state you are seeing in Rviz. But I am not sure that that's really the way you should be using it - the more common way to plan with MoveIt in code is to use a MoveGroupInterface, from which you can get the current start and goal state (although it's not the one displayed in Rviz), as well as the results of the plan and move functions when they are called.If you are just teaching poses, a common way to get pose and joint positions from the current state of the system is to use e.g. rosrun tf tf_echo and rostopic echo /joint_states.

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