Hi there!I am working with a camera mounted to a UR10e gripper. The application requires very high precision, so I am performing a handEye calibration to measure the relatives angles between the TCP and the camera. They are suppose to be [0, 0, 180], but because the mounting is not precise, I know that the error is around 1° in each coordinate. To do the calibration I need to get the UR rotation matrix from the axis-angle notation. I created a Polyscope program to extract the robot poses. It gets them in axis-angle notation, in radians. However, If you check the axis-angle notation on the Polyscope (under move) and you compare with the script values of that same point, you will see a difference. From another post, I understood that the Polyscope values are scaled following the next formula: p[x,y,z] - script valuesscale = 1 - 2*PI/length(p[x,y,x])polyscope_values = [scale*x, scale*y, scale*z]I took 5 different poses on the UR and realized, that this formula is correct. But, which one should I use to get the rotation matrix?