How to get tcp pose in feature coordinates?

Technical Questions URScript
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I’ve answered my own question. So for anyone else who runs into this,

result=pose_trans(pose_inv(pose2),pose1)
x offset = result[0]
y offset = result[1]

Assuming, of course, that your x and y axes of the feature plane and your tool are pointing the same direction. If not, it should be a simple 2D coordinate transformation if you know the angle of rotation.

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