How to use math3d - 10 common examples

"""
        # Set coord. sys. to 0
        self.csys = m3d.Transform()

        print("A new coordinate system will be defined from the next three points")
        print("Firs point is X, second Origin, third Y")
        print("Set it as a new reference by calling myrobot.set_csys(new_csys)")
        input("Move to first point and click Enter")
        # we do not use get_pose so we avoid rounding values
        pose = URRobot.getl(self)
        print("Introduced point defining X: {}".format(pose[:3]))
        px = m3d.Vector(pose[:3])
        input("Move to second point and click Enter")
        pose = URRobot.getl(self)
        print("Introduced point defining Origo: {}".format(pose[:3]))
        p0 = m3d.Vector(pose[:3])
        input("Move to third point and click Enter")
        pose = URRobot.getl(self)
        print("Introduced point defining Y: {}".format(pose[:3]))
        py = m3d.Vector(pose[:3])

        new_csys = m3d.Transform.new_from_xyp(px - p0, py - p0, p0)
        self.set_csys(new_csys)

        return new_csys

def translate_tool(self, vect, acc=0.01, vel=0.01, wait=True, threshold=None):
        """
        move tool in tool coordinate, keeping orientation
        """
        t = m3d.Transform()
        if not isinstance(vect, m3d.Vector):
            vect = m3d.Vector(vect)
        t.pos += vect
        return self.add_pose_tool(t, acc, vel, wait=wait, threshold=threshold)