How to rotate a pose

[francis]

hi @luca-0

i had a similar problem in the past.
try reading this answer on my post.

Rotate TCP in Rx direction only

Hi @francis If you want to program just a rotation, you have to keep in mind that the last 3 elements in the pose array are of a rotation vector type. We cannot, or at least very difficultly, interpret this. When we want a rotation, we think in the “RPY” type. This means that, if you want a rotation of 179deg around your y-axis of your chosen TCP (your Y-axis points outward of the tool flange), then you can accomplish this by doing these steps: A rotation of 179deg, transform it to radians: …

basically, where thinking in terms of RPY but we need to convert that to rotation vector using rpy2rotvec()
(hopefully, i understood it correctly)