mes:</p>
<ul class="simple">
<li><p><strong>root frame</strong>: The frame relative to which the problem is defined. Must be either “odom” or “vision”.</p></li>
<li><p><strong>scene frame</strong>: An optional frame at a user-specified pose relative to the root frame. Body and foot related quantities, as well as the task frame are expressed relative to this frame. Identity by default.</p></li>
<li><p><strong>task frame</strong>: An optional frame at a user-specified pose relative to the scene fame. 