# How to rotate a pose

**URL:** <https://forum.universal-robots.com/t/how-to-rotate-a-pose/40079>\
**Category:** URScript\
**Created:** [June 3, 2025, 1:04pm UTC](https://forum.universal-robots.com/t/how-to-rotate-a-pose/40079 "2025-06-03T13:04:51Z")\
**Posts on this page:** 1\
**Showing post:** 2

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**Author:** ![francis](https://avatars.discourse-cdn.com/v4/letter/f/ac8455/32.png) [@francis](https://forum.universal-robots.com/u/francis)\
**Post date:** [June 4, 2025, 5:03am UTC](https://forum.universal-robots.com/t/how-to-rotate-a-pose/40079/2 "2025-06-04T05:03:48Z")

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hi @luca-0

i had a similar problem in the past.  
try reading this answer on my post.

> [@Rotate TCP in Rx direction only](https://forum.universal-robots.com/t/rotate-tcp-in-rx-direction-only/35398/5):
>
> Hi @francis If you want to program just a rotation, you have to keep in mind that the last 3 elements in the pose array are of a rotation vector type. We cannot, or at least very difficultly, interpret this. When we want a rotation, we think in the “RPY” type. This means that, if you want a rotation of 179deg around your y-axis of your chosen TCP (your Y-axis points outward of the tool flange), then you can accomplish this by doing these steps: A rotation of 179deg, transform it to radians: …

basically, where thinking in terms of RPY but we need to convert that to rotation vector using rpy2rotvec()  
(hopefully, i understood it correctly)

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