How to set end position and orientation relative to base frame? about fabrics

[maxspahn]

What do you mean by task? Do you want to place an object with respect to a robots base link?

[newuhe]

What do you mean by task? Do you want to place an object with respect to a robots base link?

Thanks for replying. To be clear, i want to set robot arm target end-effector goal position and orientation relative to world frame. The robot will approach the target like panda_dynamics_avoidance.py.

[maxspahn]

So a pose (position and quaterion)? Fabrics don't support quaternion in the classical way, as it they are quite unintuitive and distance metrics don't follow easily. Therefore, I decided to represent all orientation goals, as union of position goals. You can think of it as constraints. For example: if you set the distance vector between panda_link7 and panda_hand to be [0,0,0.1], it means the arm will face upwards. The parent link and child link would be panda_link7 and panda_hand respectively in this case. I will try to create a nice illustration today.

Best,
Max.

[newuhe]

What about "angle" in "subgoal1" of goal_dict in panda_cuboid.py? The goal_orientation is in [rw,rx,ry.rz] format?

[maxspahn]

Ah, that is indeed a left-over of early trials. If you follow the code, it actually just rotates the symbolic positions of parent and child. Have a look at panda_ring.py. It is the same example but using the above described logic.