[chris_UW]

I Have the following test code block

Code:

from robodk import Pose
def test(abc):
a, b, c = abc
p = Pose(0,0,0,a,b,c)
print (p)


test((30,89,0))
test((30,90,0))

and I get the following output:

Code:

Pose(0.000, 0.000, 0.000, 30.000, 89.000, 0.000):
[[ 0.017, -0.000, 1.000, 0 ],
[ 0.500, 0.866, -0.009, 0 ],
[ -0.866, 0.500, 0.015, 0 ],
[ 0, 0, 0, 1 ]]

Pose(0.000, 0.000, 0.000, 0.000, 90.000, 30.000):
[[ 0.000, -0.000, 1.000, 0 ],
[ 0.500, 0.866, -0.000, 0 ],
[ -0.866, 0.500, 0.000, 0 ],
[ 0, 0, 0, 1 ]]

Note the angles of the two outputs. In the second Rx and Rz appear to be swapped.

Perhaps I don't understand the coordinates but the second output seems wrong to me.

Can anyone confirm that this is bad behavior or explain why its not?