Robot.get_base_frame

Robot.get_base_frame(group=None, full_configuration=None)

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

Parameters:

groupstr, optional

The name of the planning group. Defaults to the main planning group.

full_configurationcompas_robots.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