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This function returns the pose of the limb's endpoint with respect to the /base frame. I believe that the endpoint is considered to be the <left|right>_gripper frame. The "position" key is the position of the endpoint frame, and the "orientation" key is the orientation expressed as a quaternion. This is described here:

http://api.rethinkrobotics.com/baxter_interface/html/baxter_interface.limb.Limb-class.html#endpoint_pose

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