Goal poses on absolute mode

[furushchev]

Hi rakita,

Sorry for many questions, I'm trying to use this library with absolute mode for sending both position/rotation goal.

The current solve function (https://github.com/uwgraphics/relaxed_ik/blob/master/src/RelaxedIK/relaxedIK.py#L52) takes goal_positions and goal_quats as arguments for goal pose of IK.

Considering the robot that has the links like below:
base_link -> ... -> end_effector_base_frame -> (end_effector_fixed_joint) -> end_effector_frame.

I firstly mean the goal position / rotation is just a goal of end effector (e.g. end_effector_frame) frame from the fixed frame (e.g. base_link), but it looks it is wrong.
Which frame should I set as goal poses from?

FYI:
I debugged by changing relative to absolute here:
https://github.com/uwgraphics/relaxed_ik/blob/master/src/RelaxedIK/GROOVE_RelaxedIK/relaxedIK_vars.py#L28-L29

-                  rotation_mode = 'relative',  # could be 'absolute' or 'relative'                                                     
+                  rotation_mode = 'absolute',  # could be 'absolute' or 'relative'                                                     
-                  position_mode = 'relative',                                                                                          
+                  position_mode = 'absolute',                                                                                          

and weights for objectives just to affect position and rotation of end effector:
https://github.com/uwgraphics/relaxed_ik/blob/master/src/RelaxedIK/GROOVE_RelaxedIK/relaxedIK_vars.py#L32

-                 weight_priors=(50.0,10.0,0.3,0.3,0.3,1.0,2.0),                                                                     
+                 weight_priors=(50.0,50.0,0.0,0.0,0.0,0.0,0.0),                                                                       

[djrakita]

Hey, so sorry, I'm just seeing this now after answering another question in an issue that just came in! If you happen to still be working on this, the goal_positions and goal_quats arguments are just for end-effector pose goals. The first two weights also just affect the position and rotation of the end-effector as well. If you have any additional questions based on your recent experience with this, feel free to follow up!