diff --git a/CHANGELOG.md b/CHANGELOG.md
index 107f2258..43dd22ec 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -36,6 +36,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
   - Check for value and fields/properties.
 - SCH print:
   - Support for title change
+- VRML:
+  - Option to use the auxiliary origin as reference. (#420)
 
 ### Fixed
 - Makefile: don't skip all preflights on each run, just the ones we generate
diff --git a/README.md b/README.md
index 589a421d..7e0e0cb0 100644
--- a/README.md
+++ b/README.md
@@ -4770,8 +4770,10 @@ Notes:
         - `pre_transform`: [string|list(string)='_none'] Name of the filter to transform fields before applying other filters.
                            A short-cut to use for simple cases where a variant is an overkill.
         - `ref_units`: [string='millimeters'] [millimeters,inches'] Units for `ref_x` and `ref_y`.
-        - `ref_x`: [number=0] X coordinate to use as reference when `use_pcb_center_as_ref` is disabled.
-        - `ref_y`: [number=0] Y coordinate to use as reference when `use_pcb_center_as_ref` is disabled.
+        - `ref_x`: [number=0] X coordinate to use as reference when `use_pcb_center_as_ref` and `use_pcb_center_as_ref` are disabled.
+        - `ref_y`: [number=0] Y coordinate to use as reference when `use_pcb_center_as_ref` and `use_pcb_center_as_ref` are disabled.
+        - `use_aux_axis_as_origin`: [boolean=false] Use the auxiliary axis as origin for coordinates.
+                                    Has more precedence than `use_pcb_center_as_ref`.
         - `use_pcb_center_as_ref`: [boolean=true] The center of the PCB will be used as reference point.
                                    When disabled the `ref_x`, `ref_y` and `ref_units` will be used.
         - `variant`: [string=''] Board variant to apply.
diff --git a/docs/samples/generic_plot.kibot.yaml b/docs/samples/generic_plot.kibot.yaml
index 6964cde8..8a8f896c 100644
--- a/docs/samples/generic_plot.kibot.yaml
+++ b/docs/samples/generic_plot.kibot.yaml
@@ -3418,13 +3418,16 @@ outputs:
       pre_transform: '_none'
       # [string='millimeters'] [millimeters,inches'] Units for `ref_x` and `ref_y`
       ref_units: 'millimeters'
-      # [number=0] X coordinate to use as reference when `use_pcb_center_as_ref` is disabled
+      # [number=0] X coordinate to use as reference when `use_pcb_center_as_ref` and `use_pcb_center_as_ref` are disabled
       ref_x: 0
-      # [number=0] Y coordinate to use as reference when `use_pcb_center_as_ref` is disabled
+      # [number=0] Y coordinate to use as reference when `use_pcb_center_as_ref` and `use_pcb_center_as_ref` are disabled
       ref_y: 0
       # [list(string)|string=all] [none,all] List of components to draw, can be also a string for `none` or `all`.
       # Unlike the `pcbdraw` output, the default is `all`
       show_components: all
+      # [boolean=false] Use the auxiliary axis as origin for coordinates.
+      # Has more precedence than `use_pcb_center_as_ref`
+      use_aux_axis_as_origin: false
       # [boolean=true] The center of the PCB will be used as reference point.
       # When disabled the `ref_x`, `ref_y` and `ref_units` will be used
       use_pcb_center_as_ref: true
diff --git a/kibot/out_vrml.py b/kibot/out_vrml.py
index 92321534..1b9c9cc0 100644
--- a/kibot/out_vrml.py
+++ b/kibot/out_vrml.py
@@ -36,10 +36,13 @@ class VRMLOptions(Base3DOptionsWithHL):
             self.use_pcb_center_as_ref = True
             """ The center of the PCB will be used as reference point.
                 When disabled the `ref_x`, `ref_y` and `ref_units` will be used """
+            self.use_aux_axis_as_origin = False
+            """ Use the auxiliary axis as origin for coordinates.
+                Has more precedence than `use_pcb_center_as_ref` """
             self.ref_x = 0
-            """ X coordinate to use as reference when `use_pcb_center_as_ref` is disabled """
+            """ X coordinate to use as reference when `use_pcb_center_as_ref` and `use_pcb_center_as_ref` are disabled """
             self.ref_y = 0
-            """ Y coordinate to use as reference when `use_pcb_center_as_ref` is disabled """
+            """ Y coordinate to use as reference when `use_pcb_center_as_ref` and `use_pcb_center_as_ref` are disabled """
             self.ref_units = 'millimeters'
             """ [millimeters,inches'] Units for `ref_x` and `ref_y` """
             self.model_units = 'millimeters'
@@ -75,9 +78,14 @@ class VRMLOptions(Base3DOptionsWithHL):
         cmd = [command, 'export_vrml', '--output_name', os.path.basename(name), '-U', self.model_units]
         if self.dir_models:
             cmd.extend(['--dir_models', self.dir_models])
-        if not self.use_pcb_center_as_ref or GS.ki5:
+        if not self.use_pcb_center_as_ref or GS.ki5 or self.use_aux_axis_as_origin:
+            if self.use_aux_axis_as_origin:
+                offset = GS.get_aux_origin()
+                x = GS.to_mm(offset.x)
+                y = GS.to_mm(offset.y)
+                units = 'millimeters'
             # KiCad 5 doesn't support using the center, we emulate it
-            if self.use_pcb_center_as_ref and GS.ki5:
+            elif self.use_pcb_center_as_ref and GS.ki5:
                 x, y = self.get_pcb_center()
                 units = 'millimeters'
             else: