parameters: (body_unique_id: int, link_index: int)
return_statement: return pos_orn
docstring: Pose of inertial frame with respect to world frame expressed in world frame.
  
      Args:
          body_unique_id (int): The body unique id, as returned by loadURDF, etc.
          link_index (int): Link index or -1 for the base.
  
      Returns:
          pos_orn (tuple): See description.
docstring_summary: Pose of inertial frame with respect to world frame expressed in world frame.
docstring_tokens: Pose of inertial frame with respect to world frame expressed in world frame .
function: def get_world_inertial_pose(body_unique_id: int, link_index: int):
      """Pose of inertial frame with respect to world frame expressed in world frame.
  
      Args:
          body_unique_id (int): The body unique id, as returned by loadURDF, etc.
          link_index (int): Link index or -1 for the base.
  
      Returns:
          pos_orn (tuple): See description.
      """
      if link_index == -1:
          pos_orn = p.getBasePositionAndOrientation(body_unique_id)
      else:
          state = p.getLinkState(body_unique_id, link_index)
          pos_orn = (state[0], state[1])
  
      return pos_orn
function_tokens: def get_world_inertial_pose ( body_unique_id : int , link_index : int ) : if link_index == - 1 : pos_orn = p . getBasePositionAndOrientation ( body_unique_id ) else : state = p . getLinkState ( body_unique_id , link_index ) pos_orn = ( state [ 0 ] , state [ 1 ] ) return pos_orn