Hello @matthewd92 Can i use Transpose, poseadd or posesub with planes instead of pose.Issue:1. i am having two pallets. positions are teach through excel sheet. reference from center point of the pallet.2. To teach center point am using features( plane). from origin, x and Y i will find my center point.3. then i use pose add(current tcp, center point of plane1). Instead of using center point can i use Plane itself for Poseadd function. This is because using center point giving me good result for one pallet but for another pallet i found some orientation issues in UR3e.