# Transformation question

**URL:** <https://forum.universal-robots.com/t/transformation-question/32315>\
**Category:** General Application Help: How do I?\
**Created:** [January 24, 2024, 12:48pm UTC](https://forum.universal-robots.com/t/transformation-question/32315 "2024-01-24T12:48:24Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![sam2](https://avatars.discourse-cdn.com/v4/letter/s/9de0a6/32.png) [@sam2](https://forum.universal-robots.com/u/sam2)\
**Post date:** [January 24, 2024, 12:48pm UTC](https://forum.universal-robots.com/t/transformation-question/32315/1 "2024-01-24T12:48:24Z")

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Well I am making progress but I haven’t done this maths for 30 years and I’m struggling. I have reference points in the program that are all a function of z. I am working on a sub program to find points a’, b’, and c’ and I want them to create a transformation to change z to z’ as a new reference point. This only for 2D ie x,y and rotation.

Any tips on writing the script appreciated.

 ![IMG_8142](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/9/96c3e6cf86bf6112b91a357b0d45966b8a7ee511.jpeg)