Overview

Vendor	Unit Translation	Unit Rotation	Rotation Representation
ABB	mm	deg	ZYX
Doosan	mm	deg	ZYZ
FANUC	mm	deg	xyz
KUKA	mm	deg	ZYX
Omron	mm	deg	xyz
UR (Script)	m	rad	vector
Yaskawa	mm	deg	xyz

The rotation convention matches the one established in the scipy Python library and must be used in all API functions involving the robot-dependent expression of orientations. You can find a fairly complete list of Euler angle conventions used by different robot vendors in the Mech Mind documentation.