Two Poses
Rotation Axis & Angle

Pose 1 (Blue)

Roll 0°
Pitch 0°
Yaw 0°

Pose 2 (Green)

Roll 0°
Pitch 0°
Yaw 0°

Translation (Pose2 - Pose1)

X Distance
Y Distance
Z Distance

Relative Rotation

Axis: [0.000, 0.000, 0.000]
Angle: 0.0°
Quaternion:
w: 1.000, x: 0.000, y: 0.000, z: 0.000