Dear DOF community,I am using the UR10e's force sensor to detect (measure), two different heights. Thus creating a delta Z.Firstly positioning the TCP above point 1, using a MoveL perpendicular to the plane I taught untill a certain force is detected, and the same for point 2.The scipt code get_actual_tcp_pose() is used when a force is detected.URscript manual:get_actual_tcp_pose() Returns the current measured tool pose Returns the 6d pose representing the tool position and orientation specified in the base frame. The calculation of this pose is based on the actual robot encoder readings. Return Value The current actual TCP vector [X, Y, Z, Rx, Ry, Rz] If I understand correctly, the function always orientates itself from the "Base" plane.Is there a way to use this function with regards to a newly taught plane? One which is under a slope with regards to the "Base" plane.Unfortunately I don't have acces to the Force Copilot, which already might have this functionality.Thanks in advance for your thouhts/awnsers.Kind regards,Teun van KerckhovenMechatronics graduation student.