 unspecified.</p></li>
<li><p><strong>On Ground Plane Stance</strong>: A valid solution must place the feet on the specified ground plane, or on the robots current estimated ground plane if unspecified.</p></li>
</ul>
</li>
<li><p><strong>Tool Specifications</strong></p>
<ul>
<li><p><strong>Wrist-Mounted Tool</strong>: The tool frame is fixed at a specified pose relative to the final arm link. If that pose is unspecified, the tool frame defaults to the <a class="reference external" href="arm_concepts.html#h