Universal Robots Forum

Problem with getting the poses used to define a feature plane

I need to get the three poses used to define a feature plane. In java I’m doing this by using the getPoint1(), getPoint2() and getPoint3() methods from FeaturePlane and then getPose() and then toArray(Length.Unit.M, Angle.Unit.RAD). But this gives me wrong results. For example I defined a feature plane using these poses: (x,y,z,rx,ry,rz)
-100,-400,150,0,180,0
-50,-400,150,0,180,0
-50,-350,150,0,180,0
but these methods return:
-100,-400,150,0,0,0
-100,600,150,0,0,0
-50,-350,150,0,-180,0
As you can see the returned poses are not the same as the poses used to define the feature plane. Is there a way to get the correct poses?