actually, no, I find that graphic impossible to decipher.
I’m thinking something like this. I assumed a few things. those arrows are the transformations you have, e.g. pose of base in camera frame (or transformation from base to camera frame).
you can calculate other transformations from those, such as the poses of wrist, gripper, part, … in the base frame.
the point of this is to give you a cheat sheet so you get the orders of transformations right, and you can see when you need an inverted transformation.
base
cam
arm_wrist
gripper
part
tooling
cam base observed
cam arm_wrist observed
cam part observed
arm_wrist gripper construction
gripper part construction
base tooling defined
on CS Academy