# Offsetting a plane via pose\_trans

**URL:** <https://forum.universal-robots.com/t/offsetting-a-plane-via-pose-trans/28978>\
**Category:** Technical Questions\
**Created:** [June 13, 2023, 2:15pm UTC](https://forum.universal-robots.com/t/offsetting-a-plane-via-pose-trans/28978 "2023-06-13T14:15:29Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![therichnik99](https://avatars.discourse-cdn.com/v4/letter/t/eb9ed0/32.png) [@therichnik99](https://forum.universal-robots.com/u/therichnik99)\
**Post date:** [June 13, 2023, 2:15pm UTC](https://forum.universal-robots.com/t/offsetting-a-plane-via-pose-trans/28978/1 "2023-06-13T14:15:29Z")

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Hi,

I am currently trying to move a plane from a reference point to an offset point.

If I just move the plane in linear directions (X,Y, Z) everything works fine with pose\_sub(offset\_point, reference\_point).

If I get any rotation (RX, RY, RZ) the plane rotates around the origin / base coordinate system (0,0,0,0,0,0) instead of rotating around the points.

 ![Forum_Rotation](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/7/7175a91500fc2eb7d1f8f02ece24a3bd8da28a97.jpeg)

I tried to first move the plane from the reference\_point to (0,0,0,0,0,0) via pose\_sub(), then rotate the plane around the origin and after that moving to the offset\_point, but this idea didn’t work for me.

Does anyone have an idea for solving my problem?

Thanks in advance,  
Niklas

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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:** [June 21, 2023, 9:31am UTC](https://forum.universal-robots.com/t/offsetting-a-plane-via-pose-trans/28978/2 "2023-06-21T09:31:33Z")

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If you already know the co-ordinates of the Offset position you simply need to say Ref\_point = Offs\_Point.  
pose\_sub subtracts one Co-ordinat from the other!