# Translate/rotate point relative to a feature plane **URL:** \ **Category:** Product Wishlist\ **Created:** [June 3, 2021, 3:58pm UTC](https://forum.universal-robots.com/t/translate-rotate-point-relative-to-a-feature-plane/14708 "2021-06-03T15:58:02Z")\ **Posts on this page:** 2\ **Page:** 1
**Author:** ![scott.bruins](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/scott.bruins/32/2680_2.png) [@scott.bruins](https://forum.universal-robots.com/u/scott.bruins)\ **Post date:** [June 3, 2021, 3:58pm UTC](https://forum.universal-robots.com/t/translate-rotate-point-relative-to-a-feature-plane/14708/1 "2021-06-03T15:58:02Z")
I’m running into an issue where I’m trying to move to a point relative to a feature plane. I’ve done this successfully before using pose\_trans but for some reason it isn’t giving me the correct position. Desired location relative to Plane\_1 X= 0 mm Y= 0 mm Z= 300 mm (RPY°) Rx = 180° Ry = 0° Rz = -45º script Plane\_1 = p[0.28744, -0.96651, 0.00903, -0.00673, 0.00832, 1.57096] Plane\_1\_offset = p[0,0,0.3,3.1416,0,-0.7854] Plane\_1\_new = pose\_trans(Plane\_1, Plane\_1\_offset) Expected Result: Plane\_1\_new = p[0.28775, -0.96364, 0.30902, 2.89452, 1.19925, -0.00721] Actual Result: Plane\_1\_new = p[0.28775, -0.96364, 0.30902, 1.97712, 1.97703, 0.60404] Its calculating the x,y and z position correctly but the Rx, Ry and Rz are off. I’m sure there is something simple I am missing but I’m struggling to find it. 😕 ---
**Author:** ![scott.bruins](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/scott.bruins/32/2680_2.png) [@scott.bruins](https://forum.universal-robots.com/u/scott.bruins)\ **Post date:** [June 3, 2021, 4:12pm UTC](https://forum.universal-robots.com/t/translate-rotate-point-relative-to-a-feature-plane/14708/2 "2021-06-03T16:12:42Z")
Nevermind, I answered my own question. I just needed to convert the RPY degrees to rotation vector values before doing the pose\_trans.