I have a custom tool. The bottom surface is offset 20deg from perpendicular to the ur3 toolhead. Using python, I am trying to reorient the bottom of the tool surface to the base plane after an arbitrary move. Any suggestinos on how to accomplish this?
Wouldn’t it work for you to set up the orientation of the tool in the TCP settings of the robot? This way, when you move the TCP to coordinates that are parallel to the Z axis of the Base, it should orient the tool correct. 
I will admit I haven’t done much programming through Python, but I imagine you still use the TCP settings in the Installation of Polyscope?