FIGURE 4.

Base Placement Process. (A): Exemplary potential robot base pose $B_{i,j,grid}$, where the ^base $z$‐axis is aligned obliquely. (B): The oblique base was aligned upright by applying transformation $T_{up}$ and shifted accordingly so that the end effector position is retained. The resulting base position is referred to as $B_{i,j,grid,up}$.