# What does the function of pose\_trans return?

**URL:** <https://forum.universal-robots.com/t/what-does-the-function-of-pose-trans-return/32078>\
**Category:** URScript\
**Created:** [January 11, 2024, 10:08am UTC](https://forum.universal-robots.com/t/what-does-the-function-of-pose-trans-return/32078 "2024-01-11T10:08:51Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![li.li](https://avatars.discourse-cdn.com/v4/letter/l/dbc845/32.png) [@li.li](https://forum.universal-robots.com/u/li.li)\
**Post date:** [January 11, 2024, 10:08am UTC](https://forum.universal-robots.com/t/what-does-the-function-of-pose-trans-return/32078/1 "2024-01-11T10:08:51Z")

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pose1 is [0,0,0,3.14,0,-1.57], pose2 is [10,20,0,0,0,0,78], what should be the result of pose\_trans(pose1, pose2)?

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**Author:** ![ashokkonda901](https://avatars.discourse-cdn.com/v4/letter/a/b5ac83/32.png) [@ashokkonda901](https://forum.universal-robots.com/u/ashokkonda901)\
**Post date:** [January 12, 2024, 5:00am UTC](https://forum.universal-robots.com/t/what-does-the-function-of-pose-trans-return/32078/2 "2024-01-12T05:00:32Z")

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Hi,

It will give resultant of both poses and values inside the brackets should be in Meters and Radians. pose2 [0.010,0.020,0,0,0, d2r(78)]

Below links may helpful:

1. [Universal Robots - URScript: Move with respect to a custom feature/frame (universal-robots.com)](https://www.universal-robots.com/articles/ur/programming/urscript-move-with-respect-to-a-custom-featureframe/)
2. [Simple vision system - 23871 (universal-robots.com)](https://www.universal-robots.com/articles/ur/programming/simple-vision-system/)