nx, ny, nz = ax5, ay5, az5

            n_length = math.sqrt(nx ** 2 + ny ** 2 + nz ** 2)
            distance = 50
            nx, ny, nz = nx / n_length * distance, ny / n_length * distance, nz / n_length * distance

            ur.send_command_movel([x5 + nx, y5 + ny, z5 + nz, ax5, ay5, az5], v=speed_set, r=radius)