# Move with Offset

**URL:** <https://forum.universal-robots.com/t/move-with-offset/19528>\
**Category:** Product Wishlist\
**Created:** [February 28, 2022, 10:03am UTC](https://forum.universal-robots.com/t/move-with-offset/19528 "2022-02-28T10:03:45Z")\
**Posts on this page:** 2\
**Page:** 2

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**Author:** ![m.hammerton](https://avatars.discourse-cdn.com/v4/letter/m/b2d939/32.png) [@m.hammerton](https://forum.universal-robots.com/u/m.hammerton)\
**Post date:** [March 14, 2022, 11:11am UTC](https://forum.universal-robots.com/t/move-with-offset/19528/22 "2022-03-14T11:11:44Z")

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cg1,

> [@cg1](#):
>
> You can do the exact same things for the planes.  
> AKA if you can “copy paste” an offset node it should be complety posible to resuse the plane with a similar offset.

Can you explain further  
How can you apply a plane as an offset to another plane?

I tried  
creating a plane (Stn1 X300, Y300, Z0, Rx0, Ry0, Rz0)  
creating a second plane (Offset X0, Y0, Z100, Rx0, Ry0, Rz0)

and taught a position waypoint\_1 to X0, Y0, Z0, Rx0, Ry0, Rz0 of Sn1 Plane

then nested within the move added an additional Move again with waypoint\_1 but set the feature this time to Offset plane

As expected the robot wants to move the tool to the middle of the base axis +100mm which it cant achieve!

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<div class="post-metadata">

**Author:** ![m.hammerton](https://avatars.discourse-cdn.com/v4/letter/m/b2d939/32.png) [@m.hammerton](https://forum.universal-robots.com/u/m.hammerton)\
**Post date:** [March 17, 2022, 11:20am UTC](https://forum.universal-robots.com/t/move-with-offset/19528/23 "2022-03-17T11:20:17Z")

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> [@jjbe](#):
>
> I know it might be scary for non-scripters but for now, a script oneliner which I believe does what you want looks something like this for e-series:
> 
> `movel(pose_trans(Waypoint_1_p, p[0,0,0.1,0,0,0]))`
> 
> I don’t know if it helps you?

Just to elaborate on this answer if you want to offset the TCP position (when using a plane) you need to add a little bit extra into the script line

e.g.  
movel (pose\_trans(Plane\_1,(pose\_trans(Waypoint\_1\_p,(Offset))))

the other problem is there is no Move Here button to check your position before running.  
(Just cross your fingers and hope!!)

can you see why this might be a bit daunting for someone who has never done any script writing before?

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