# Move waypoints based on previous alignment

**URL:** <https://forum.universal-robots.com/t/move-waypoints-based-on-previous-alignment/20046>\
**Category:** Technical Questions\
**Created:** [March 22, 2022, 1:02pm UTC](https://forum.universal-robots.com/t/move-waypoints-based-on-previous-alignment/20046 "2022-03-22T13:02:00Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![anon24026861](https://avatars.discourse-cdn.com/v4/letter/a/f08c70/32.png) [@anon24026861](https://forum.universal-robots.com/u/anon24026861)\
**Post date:** [March 22, 2022, 1:02pm UTC](https://forum.universal-robots.com/t/move-waypoints-based-on-previous-alignment/20046/1 "2022-03-22T13:02:00Z")

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Hello.

I would like to program some trajectories directly with the Polyscope of my UR-5e. The waypoint values are saved with respect to the frame of the robot’s base. Before executing the program, I need to measure some points of my part and align it with three points, creating my new frame (“new frame”). Is there any method so that the trajectories that I previously program with the Polyscope save them with respect to the new frame that I have created? I always need to align my robot to the part before I start running the program.  
Therefore, I need all previously saved points (waypoints) to move based on the previous alignment (“frame new”).

Thanks!