[Albert]

This is not a bug or a bad behavior. The Pose command uses an Euler angle representation (Rx->Ry'->Rz''). Using this representation, when the Ry value is 90 deg (your b value), Rx and Rz are redundant.

These 2 transformations are very similar:

Code:

from robodk import *

pose1 = Pose(0.000, 0.000, 0.000, 30.000, 89.000, 0.000)
pose2 = Pose(0.000, 0.000, 0.000, 0.000, 90.000, 30.000)

# Calculate error:
pose1to2 = pose1.inv() * pose2
print(pose1to2)
#输出:姿势(0.000,0.000, 0.000, -0.000, 1.000, -0.000)

The 4x4 matrix you see is a pose and it represents the 6D transformation. You can see a very small change between the 2 poses.

More information here:
//m.sinclairbody.com/doc/en/PythonAPI/robo...obodk.Pose
//m.sinclairbody.com/doc/en/Basic-Guide.html#RefFrames
//m.sinclairbody.com/blog/robot-euler-angles/

Albert