Supporting robot base being non-zero

[nature21]

Thank you for your effort in developing this amazing and handy package. However, when I tried to specify the robot base to be a custom one by calling Planner.robot.set_base_pose(), it did not seem to work. This feature is critical for multi-robot manipulation. Currently, I work this around by applying a transformation to all the other objects except for the planned robot, but it seems to be inefficient. Besides, I found it hard to debug without being able to visualize the components of the planning world, because I can't check whether my conversion is correct. Do you happen to know how to visualize the planning world conveniently? Thank you so much!

[Lexseal]

Hi nature21,

Thank you for using mplib and providing feedback : ) When you said

it did not seem to work

What in particular did not work? Note that during planning, if you are using Planner.plan_pose, keep in mind this param

You can use this API to get the base_pose of the robot. Also, you can try this API to get the joint positions of the robot. Is that what you meant by "visualizing the components of the planning world?"