# How can i base a point on a plan?

**URL:** <https://forum.universal-robots.com/t/how-can-i-base-a-point-on-a-plan/17579>\
**Category:** URScript\
**Created:** [November 12, 2021, 6:47pm UTC](https://forum.universal-robots.com/t/how-can-i-base-a-point-on-a-plan/17579 "2021-11-12T18:47:58Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![anon86510813](https://avatars.discourse-cdn.com/v4/letter/a/ee59a6/32.png) [@anon86510813](https://forum.universal-robots.com/u/anon86510813)\
**Post date:** [November 12, 2021, 6:47pm UTC](https://forum.universal-robots.com/t/how-can-i-base-a-point-on-a-plan/17579/1 "2021-11-12T18:47:58Z")

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I would like to base a point on a plane, and as that plane moves, the point changes as well.

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**Author:** ![eric.feldmann](https://avatars.discourse-cdn.com/v4/letter/e/94ad74/32.png) [@eric.feldmann](https://forum.universal-robots.com/u/eric.feldmann)\
**Post date:** [November 12, 2021, 7:18pm UTC](https://forum.universal-robots.com/t/how-can-i-base-a-point-on-a-plan/17579/2 "2021-11-12T19:18:00Z")

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These are called “Features” in Polyscope and you can find them in the Installation Tab. You can teach a plane, and then moves can select this Feature.

![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/3/3d4d5eb897f90ced02378903cde18fe413c6c56f.png)

Just be sure to select the feature BEFORE setting the Waypoint, as changing the feature after the point is set will result in a bad time.

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**Author:** ![anon86510813](https://avatars.discourse-cdn.com/v4/letter/a/ee59a6/32.png) [@anon86510813](https://forum.universal-robots.com/u/anon86510813)\
**Post date:** [November 12, 2021, 7:33pm UTC](https://forum.universal-robots.com/t/how-can-i-base-a-point-on-a-plan/17579/3 "2021-11-12T19:33:51Z")

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Yes, I know that. but I would like to do this in the script, as I will change the plan every cycle, and the only way I have found to create a plan every time is within a script.

> [@Script function to create a Plane with 3 variables points](https://forum.universal-robots.com/t/script-function-to-create-a-plane-with-3-variables-points/6128):
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> Hi, I’m looking for a way to calculate a plane using 3 variables points to allow the robot to reteach a plane which already exist. My problem is that i’m using an automatic motorized robot (AMR) which can’t be precise when it stop. My robot has to place Parts on this AMR. So I want the robot to “touch” the edge of the AMR and calculate the new plane using those points. Thanks Charles.

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**Author:** ![eric.feldmann](https://avatars.discourse-cdn.com/v4/letter/e/94ad74/32.png) [@eric.feldmann](https://forum.universal-robots.com/u/eric.feldmann)\
**Post date:** [November 15, 2021, 2:20pm UTC](https://forum.universal-robots.com/t/how-can-i-base-a-point-on-a-plan/17579/4 "2021-11-15T14:20:46Z")

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You can change the plan programmatically via script by just calling pose\_add() or pose\_trans() and pass in the feature and however you want to transform it. So for example if every cycle you need your point to shift along the X-axis 100mm, you’d do:

![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/6/6b6152d2cd0e24689bfd3a25c54b642e0da4091f.png)

If it helps, there’s nothing special about a Feature. Polyscope just sees it as a pose. So in that guy’s example you linked to, he could just write a seeking script using the force function, and record each offset and pass THOSE into the pose\_add()/pose\_trans() functions.

Not sure what specifically you’re looking for here. Teaching a point to a feature solves your original question, and this allows it to change the offset per cycle.