Magically Changing RPY Values

[RobotNoob]

It is a harmless bug.
Ignore it. Basically, the values you see on the screen are scaled values and they denote the same pose as you inputed.
Check the explanation here

state.actual_TCP_pose results in wrong pose!

Hello @RobotNoob, As promised I will answer your question while being back from holiday. In PolyScope we scale the rotation vector so that it looks more stable and doesn’t flicker so much. The RTDE data is unscaled, but when scaled it corresponds to the GUI values shown in the customer’s screenshot. Anyway, both solutions represents same position. If you want to scale the RTDE reading this portion of code may be useful: def tcp_pose_scal(): v = get_actual_tcp_pose() pi=3.1416 l = sqrt(pow(…