UR5+vision - coordinate system difficulties

[anna]

Link to a previous discussion of this script solution:

How to get tcp pose in feature coordinates?

The script command get_actual_tcp_pose() defaults to base feature coordinates. I want to get TCP coordinates inside a plane feature that I have defined (I need the x and y coordinates as offsets for a variable waypoint calculation for movement inside that feature plane). How can I do this using script commands? Edit: I’d like to provide a bit more detail…I’ve read a few posts and attempted to use pose_trans() but it’s not giving me the results I expect. This is probably basic, but I’m relati…