Robot.get_base_frame

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

compas.geometry.Frame