From 86376ca87d2c055b792d8cea4d15a38e861d866f Mon Sep 17 00:00:00 2001
From: Kolin Guo <ruguo@ucsd.edu>
Date: Sat, 17 Aug 2024 15:06:46 -0700
Subject: [PATCH] [Bugfix] call set_base_pose in SapienPlanningWorld during
 init and update

---
 mplib/sapien_utils/conversion.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/mplib/sapien_utils/conversion.py b/mplib/sapien_utils/conversion.py
index 77e0079..dab841f 100644
--- a/mplib/sapien_utils/conversion.py
+++ b/mplib/sapien_utils/conversion.py
@@ -99,6 +99,7 @@ def __init__(
                 joint_names=[j.name for j in articulation.active_joints],
                 verbose=False,
             )
+            articulated_model.set_base_pose(articulation.root_pose)  # type: ignore
             articulated_model.set_qpos(
                 articulation.qpos,  # type: ignore
                 full=True,
@@ -130,6 +131,7 @@ def update_from_simulation(self, *, update_attached_object: bool = True) -> None
         """
         for articulation in self._sim_scene.get_all_articulations():
             if art := self.get_articulation(convert_object_name(articulation)):
+                art.set_base_pose(articulation.root_pose)  # type: ignore
                 # set_qpos to update poses
                 art.set_qpos(articulation.qpos, full=True)  # type: ignore
             else: