Hi, guys!
I'm having some problems with my programming, hope some of you can help me.
So, the thing is I'm working on implementing the function get_tool_accelerometer_reading() but it says the return value is the acceleration respect the tool coordinates but I need the values to be respect the base coordinates in order to work with them. Is there anyway to change Tool coordinates into Base coordinates? I've been searching but I do not find anything.
ps: Is my approach right or am I terribly wrong on understing the return value of that function??

I would assume that the vector is showing the acceleration of the tool axes relative to the base system. Just stating that the acceleration in X is relative to the x-axis of the tool coordinate. Since there are no rotations around the base frame I’m not sure how you’d translate these to align the forces relative to the base frame axes.