[Sam]

1. I have updated the documentation, it should reflect the change in the next publication.

2 and 3. If the two poses are known, we typically use new_pose = pose_a * pose_b directly.

Offset() is convenient on loops, for instance:

Code:

for i in range (10):
pose_i = pose.Offset(0, 0, 0, rz=i*5)

Note that Pose_2_Staubli returns Pose_2_TxyzRxyz in degrees.