## Reference - [`setPoseReferenceFrame()`](https://github.com/ros-planning/moveit/blob/68eb44ded1ca665dfab81fc5c615a81f95409291/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp#L516) - [`MoveGroupInterface::getCurrentPose()`](https://github.com/ros-planning/moveit/blob/68eb44ded1ca665dfab81fc5c615a81f95409291/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp#L2025) - [`getModelFrame()`](https://github.com/ros-planning/moveit/blob/68eb44ded1ca665dfab81fc5c615a81f95409291/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp#L2030)
