LBR vectors and Frames

    Hello All,
    I'm currently trying to setup some basic sensing routines on my lbr and I'm afraid the creation of Vectors and relationship to Frames is foxing me.


    I'd like to sense a surface from a tool on my gripper then use the offset to the surface from my tool as a tool definition.


    I'm not sure If I can define tool frames on the fly, so to speak..


    If I get the XYZABC position of my sensor and I know the distance sensed surely I can determine the sensor target position by adding a vector (which is a z offset)..


    How do I do this?


    Many Thanks

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