def METHOD_NAME(self, frames_tcf):
    """Converts a list of frames at the robot's tool tip (tcf frame) to frames at the robot's flange (tool0 frame).
    Parameters
    ----------
    frames_tcf : list[:class:`~compas.geometry.Frame`]
        Frames (in WCF) at the robot's tool tip (tcf).
    Returns
    -------
    list[:class:`~compas.geometry.Frame`]
        Frames (in WCF) at the robot's flange (tool0).
    Examples
    --------
    >>> import compas
    >>> from compas.datastructures import Mesh
    >>> from compas.geometry import Frame
    >>> mesh = Mesh.from_stl(compas.get('cone.stl'))
    >>> frame = Frame([0.14, 0, 0], [0, 1, 0], [0, 0, 1])
    >>> tool = ToolModel(mesh, frame)
    >>> frames_tcf = [Frame((-0.309, -0.046, -0.266), (0.276, 0.926, -0.256), (0.879, -0.136, 0.456))]
    >>> tool.from_tcf_to_t0cf(frames_tcf)
    [Frame(Point(-0.363, 0.003, -0.147), Vector(0.388, -0.351, -0.852), Vector(0.276, 0.926, -0.256))]
    """
    Te = Transformation.from_frame_to_frame(self.frame, Frame.worldXY())
    return [Frame.from_transformation(Transformation.from_frame(f) * Te) for f in frames_tcf]