Incorrect rotation

[wwh01875]

I would like to ask why the calculated orientations are all wrong directions. I converted them into Quaterniond or eulerangle, both of which are wrong. The posture of the axis of rotation does not match the posture of the simulated gripper, but the point position is correct. How to correct the angle of rotation

My gripper is oriented with the Z axis up as positive
The X axis is positive
The y-axis is positive to the left

If you can provide the arm control program for reference, thank you very much