Empirically, the units appear to be meters and radians. Apparently the RoboDK authors didn’t check this empirically, so their robomath.Pose_2_UR() and robomath.UR_2_Pose() functions both assume it’s millimeters and radians.
Please update the URScript manual to mention this crucial piece of information.
Thanks for tip, where would that information give most value? Is it pose description in the types chapter, or at individual script functions?
Since page 3 describes pose as a datatype, I’d probably mention it there rather than in all the functions that take a pose:
“A pose is given as p[x,y,z,ax,ay,az], where x,y,z is the position of the TCP, and ax,ay,az
is the orientation of the TCP, given in axis-angle notation.”
I’d probably add something like “where x,y,z is the position of the TCP in meters, and ax,ay,az is the orientation of the TCP in radians”.