# UR5+vision - coordinate system difficulties **URL:** https://forum.universal-robots.com/t/ur5-vision-coordinate-system-difficulties/499 **Category:** URScript **Created:** [January 30, 2017, 8:40pm UTC](https://forum.universal-robots.com/t/ur5-vision-coordinate-system-difficulties/499 "2017-01-30T20:40:59Z") **Posts on this page:** 1 **Showing post:** 4
### Author: ![anna](https://avatars.discourse-cdn.com/v4/letter/a/779978/32.png) [@anna](https://forum.universal-robots.com/u/anna) #### Post date: [January 31, 2017, 3:47pm UTC](https://forum.universal-robots.com/t/ur5-vision-coordinate-system-difficulties/499/4 "2017-01-31T15:47:27Z")
Link to a previous discussion of this script solution: > [@How to get tcp pose in feature coordinates?](http://forum.universal-robots.com/t/how-to-get-tcp-pose-in-feature-coordinates/495): > > 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… --- _[View the full topic](https://forum.universal-robots.com/t/ur5-vision-coordinate-system-difficulties/499)._