# Offset Waypoint Relative to a Feature Plane **URL:** \ **Category:** Technical Questions\ **Created:** [October 18, 2021, 5:38pm UTC](https://forum.universal-robots.com/t/offset-waypoint-relative-to-a-feature-plane/17121 "2021-10-18T17:38:56Z")\ **Posts on this page:** 6\ **Page:** 1
**Author:** ![dan.oconnor](https://avatars.discourse-cdn.com/v4/letter/d/7cd45c/32.png) [@dan.oconnor](https://forum.universal-robots.com/u/dan.oconnor)\ **Post date:** [October 18, 2021, 5:38pm UTC](https://forum.universal-robots.com/t/offset-waypoint-relative-to-a-feature-plane/17121/1 "2021-10-18T17:38:56Z")
Hi All, Im trying to offset a defined waypoint thought w.r.t a feature plane. We would have normally done this by setting the plane as a variable and moving the plane in the x/y direction required. With the newer version of Polyscope, this variable plane feature is not an option any more. How can I realize this with the functionality available. Thanks ---
**Author:** ![miwa](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/miwa/32/2986_2.png) [@miwa](https://forum.universal-robots.com/u/miwa)\ **Post date:** [October 18, 2021, 6:53pm UTC](https://forum.universal-robots.com/t/offset-waypoint-relative-to-a-feature-plane/17121/2 "2021-10-18T18:53:53Z")
Taught features are variable by default now. If you have a plane feature, Plane\_1, and add an assignment node or open the variable drop-down, you’ll see Plane\_1 listed there. You can then edit as normal. The actual position of the feature is available as a pose, Plane\_1\_const, if you needed access to the coordinates of the feature relative to the base frame. ---
**Author:** ![dan.oconnor](https://avatars.discourse-cdn.com/v4/letter/d/7cd45c/32.png) [@dan.oconnor](https://forum.universal-robots.com/u/dan.oconnor)\ **Post date:** [October 18, 2021, 10:56pm UTC](https://forum.universal-robots.com/t/offset-waypoint-relative-to-a-feature-plane/17121/3 "2021-10-18T22:56:39Z")
Thanks for that info. But I’m still unclear how I add an offset to a way point and get it to move in the plane. Do I do a trans pose on plane and offset, then moveL plane, way point? ---
**Author:** ![pho](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/pho/32/2275_2.png) [@pho](https://forum.universal-robots.com/u/pho)\ **Post date:** [October 27, 2021, 5:55pm UTC](https://forum.universal-robots.com/t/offset-waypoint-relative-to-a-feature-plane/17121/4 "2021-10-27T17:55:05Z")
You move the feature (variable) by assigning it a new value. p[x,y,z,rx,ry,rz]. The waypoints in a move that has this feature selected will move with the feature ---
**Author:** ![pho](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/pho/32/2275_2.png) [@pho](https://forum.universal-robots.com/u/pho)\ **Post date:** [October 27, 2021, 6:00pm UTC](https://forum.universal-robots.com/t/offset-waypoint-relative-to-a-feature-plane/17121/5 "2021-10-27T18:00:13Z")
Check out the e-Learning for more details. [https://academy.universal-robots.com/free-e-learning/e-series-e-learning/e-series-pro-track/](https://academy.universal-robots.com/free-e-learning/e-series-e-learning/e-series-pro-track/) ---
**Author:** ![dan.oconnor](https://avatars.discourse-cdn.com/v4/letter/d/7cd45c/32.png) [@dan.oconnor](https://forum.universal-robots.com/u/dan.oconnor)\ **Post date:** [October 27, 2021, 7:01pm UTC](https://forum.universal-robots.com/t/offset-waypoint-relative-to-a-feature-plane/17121/6 "2021-10-27T19:01:49Z")
Hi, so what I ended up doing was saving the feature plan to a variable, modifying the feature plane constant by using pose\_trans, doing a move w.r.t the updated feature plane, then resetting the feature plane constant to the saved variable ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/a/a25eaa707d9e9f780385c61d9462d77898fc346a.png)