Hi! 
I am working on a welding application with a UR10e where I need to go to three positions on an object found by the wrist camera. After I reach the first position, I want to be able to move parallell to the object to reach the other two positions. In other words, I want to use the data from the vision camera to create a plane with the same rotation as the object. 

This is also possible to achieve by having the tool flange line up with the object and move with Tool as the feature, but ideally I want the rotation of the tool flange to be fixed to avoid it unneccesary rotation.

I have tried to simply assign a plane to the pos variable recieved from the camera, but it doesn't seem to work. 

Cheers,
Tor