Removing logic to strip inactive dofs. This isn't needed for base trajectories. Changing Forward and Rotate to call ExecuteBasePath.

Author: jeking04

src/prpy/base/mobilebase.py

@@ -97,7 +97,7 @@ def Forward(self, meters, execute=True, direction=None, **kw_args):
 
             traj = create_affine_trajectory(self.robot, [ start_pose, goal_pose ])
             if execute:
-                return self.robot.ExecuteTrajectory(traj, **kw_args)
+                return self.ExecuteBasePath(traj, **kw_args)
             else:
                 return traj
         else:
@@ -118,7 +118,7 @@ def Rotate(self, angle_rad, execute=True, **kw_args):
 
             traj = create_affine_trajectory(self.robot, [ start_pose, goal_pose ])
             if execute:
-                return self.robot.ExecuteTrajectory(traj, **kw_args)
+                return self.ExecuteBasePath(traj, **kw_args)
             else:
                 return traj
         else:
@@ -158,12 +158,6 @@ def _BasePlanWrapper(self, planning_method, args, kw_args):
             )
             cloned_traj = planning_method(cloned_robot, *args, **kw_args)
 
-            # Strip inactive DOFs from the trajectory
-            config_spec = cloned_robot.GetActiveConfigurationSpecification()
-            openravepy.planningutils.ConvertTrajectorySpecification(
-                cloned_traj, config_spec
-            )
-
             # Copy the trajectory back to the original environment.
             from ..util import CopyTrajectory
             traj = CopyTrajectory(cloned_traj, env=robot.GetEnv())