Robot.get_base_frame
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Robot.get_base_frame(group=None, full_configuration=None)[source] Get the frame of the robot’s base link, which is the robot’s origin frame.
- Parameters
group (
str, optional) – The name of the planning group. Defaults to the main planning group.full_configuration (
Configuration, optional) – The robot’s full configuration, i.e. values for all configurable joints of the entire robot. Defaults to the all-zero configuration.
- Returns