Robot.get_base_frame

Robot.get_base_frame(group=None, full_configuration=None)[source]

Returns the frame of the base link, which is the robot’s origin frame.

Parameters

• group (str) – The name of the group. Defaults to None.

• 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

class: compas.geometry.Frame