Task specifications are expressed relative to this frame. Identity by default.</p></li>
<li><p><strong>ground frame</strong>: An optional frame at a user-specified pose relative to the scene frame. For an on-ground-plane stance, the feet must lie on the XY-plane of this frame. Defaults to the robot’s current estimated ground plane.</p></li>
</ul>
</section>
</section>
</section>


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