Struggling to define locations of component-parts in a component-assembly

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I am new to Fusion 360. I am coming from a Catia V5 background.
For my first F360 project, I am making a simple weldment. For now, I have (3x) pieces of tubing in the weldment.
I can't figure out how to define the locations of the component-parts relative to each other using joints. I want to make the locations easy to modify as well (say I decide to increase the diameter of the tubing which would change how everything is offset).
In Catia, I would fix/anchor my first part, and then add (3x) offset constraints between my fixed/anchored part and the part I am defining its location. In Catia, I would use the origin planes (XY, XZ, YZ) on the (2x) parts to define the offset constraints.
I can't figure this out in F360. I think i want to use the Rigid Joint, but I am unable to pick the origin planes and I don't see an offset option either if I pick a feature.
Any tips?
I'm looking how to add (3x) offset constraints to the below model. (1x) offset between the (2x) yellow highlighted planes, (1x) offset between the (2x) red highlighted planes, and (1x) offset between the (2x) blue highlighted planes.