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I believe it is to be viewed as a stable projection onto the ground plane used for object avoidance and such.Not sure if it needs to be limited to the base link do not think so.

I believe it is to be viewed as a stable projection onto the ground ~~plane~~ plane(z=0) used for object avoidance and such.Not sure if it needs to be limited to the base link ~~do not think so.~~in terms of size of the projection in this since it could treat like a bounding box that it is attached as a child link of the base link.

Ans: updated based on comments.

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