and-frame">hand frame</a>.</p></li>
<li><p><strong>Body-Mounted Tool</strong>: The tool frame is fixed at a specified pose relative to the body frame. If that pose is unspecified, the tool frame defaults to the <a class="reference external" href="../geometry_and_frames.html#frames-in-the-spot-robot-world">body frame</a>.</p></li>
</ul>
</li>
<li><p><strong>Task Specifications</strong></p>
<ul>
<li><p><strong>Tool Pose Task</strong>: A valid solution must place the tool frame at a specified pose.</p></li>
<l