[Albert]

I believe you are providing numpy matrices to the RoboDK API. RoboDK expects 4x4 matrices to be Mat objects. This Matrix object is defined in the robodk module:
//www.sinclairbody.com/doc/en/PythonAPI/robo...robodk.Mat

You could do something like:
reference = KUKA_2_Pose(list(xyzabc))

xyzabc是1 d numpy哪里array given X,Y,Z,A,B,C values. The list function will convert it to a list of 6 values and the KUKA_2_Pose will create a Mat pose that you can provide to RoboDK as a pose.