--- a
+++ b/app/config/BasisFirstFrame.py
@@ -0,0 +1,16 @@
+import json
+import numpy as np
+
+
+class BasisFirstFrame:
+
+    def __init__(self):
+        self.joint_values = None
+        self.load('config/basis_first_frame.json')
+
+    def load(self, filename):
+        with open(filename) as o:
+            self.joint_values = json.load(o)
+
+    def get_basis(self, joint_name):
+        return np.array(self.joint_values[joint_name])