ABB pose format

ABB robots use a position \(X\), \(Y\), \(Z\) and a quaternion \(Q1\), \(Q2\), \(Q3\), \(Q4\) for describing a pose, similar to rc_visard NG devices. However, the position must be given in millimeters and the quaternion order is as follows:

\(q=(\begin{array}{cccc}x & y & z & w\end{array}) = (\begin{array}{cccc}Q2 & Q3 & Q4 & Q1\end{array})\).