def set_pose(self, base_pose, rotation=[0, 0, 0]):
    trans = None
    if (np.any(np.isnan(base_pose)) or np.any(np.isnan(rotation))):
        return
    if (isinstance(self._geom, Robot) and (not isinstance(self._geom, Washer))):
        trans = OpenRAVEBody.base_pose_to_mat(base_pose)
    elif (len(base_pose) == 2):
        trans = OpenRAVEBody.base_pose_2D_to_mat(base_pose)
    else:
        trans = OpenRAVEBody.transform_from_obj_pose(base_pose, rotation)
    self.env_body.SetTransform(trans)
def set_pose(self, base_pose, rotation=[0, 0, 0]):
    trans = None
    if (np.any(np.isnan(base_pose)) or np.any(np.isnan(rotation))):
        return
    if (isinstance(self._geom, Robot) and (not isinstance(self._geom, Washer))):
        trans = OpenRAVEBody.base_pose_to_mat(base_pose)
    elif (len(base_pose) == 2):
        trans = OpenRAVEBody.base_pose_2D_to_mat(base_pose)
    else:
        trans = OpenRAVEBody.transform_from_obj_pose(base_pose, rotation)
    self.env_body.SetTransform(trans)