# Problem with plane

**URL:** <https://forum.universal-robots.com/t/problem-with-plane/16216>\
**Category:** URScript\
**Created:** [September 1, 2021, 9:58am UTC](https://forum.universal-robots.com/t/problem-with-plane/16216 "2021-09-01T09:58:03Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![jarlon96](https://avatars.discourse-cdn.com/v4/letter/j/a6a055/32.png) [@jarlon96](https://forum.universal-robots.com/u/jarlon96)\
**Post date:** [September 1, 2021, 9:58am UTC](https://forum.universal-robots.com/t/problem-with-plane/16216/1 "2021-09-01T09:58:03Z")

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I have created the below plane

 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/c/cffbcbdda3ae19c4e89cb96ed37cbd134acf5c7a.jpeg)  
In the script plane is written as p[-0.6271267633975325,-0.2334469065559606,0.7395722520063815, **0.04100748901117013,1.5812879442196548,-0.04108451531028778**]  
PRY[rad] **-3.111, 1.56, 3.12** and **0.0410, 1.581, -0.041** the same plane. However, if I write a plane in the script as p[-0.6271267633975325,-0.2334469065559606,0.7395722520063815, **-3.111, 1.56, 3.12**] then the robot reacts incorrectly. Why?

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**Author:** ![bba](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/bba/32/555_2.png) [@bba](https://forum.universal-robots.com/u/bba)\
**Post date:** [September 1, 2021, 8:14pm UTC](https://forum.universal-robots.com/t/problem-with-plane/16216/2 "2021-09-01T20:14:14Z")

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That’s because what you see on that screen is in RPY form (the rotations) and what the URcontrol engine expects when using script is rotation vector form. There is a function in urscript manual called rpy2rotvec() that will do the conversion for you.