zhoubohan

error transformation?

9

In https://github.com/haosulab/MPlib/blob/main/mplib/planner.py line 616-618: ```python def _transform_goal_to_wrt_base(self, goal_pose: Pose) -> Pose: """Converts goal pose from T_world_goal to T_base_goal""" return self.robot.get_base_pose().inv() * goal_pose ``` the relative transformation from goal to base...