What information does pose_ target in 'group.set_pose_target(pose_target)' represent?

I understand that pose_ target is object of type pose that holds 2 information position xyz and orientation xyzw quaternions. from the below code snippet

pose_target = geometry_msgs.msg.Pose()
pose_target.orientation.w = 1.0
pose_target.position.x = 0.96
pose_target.position.y = 0
pose_target.position.z = 1.18

I assume that we are asking moveit to move the end effector to position(0.96,0,1.18) and orientation(0,0,0,1) , my confusion is all these values are represented in which reference frame and what is the units of this position ?

Hello @vasank1958,

You will see down in the same notebook that you can get the reference frame using the get_planning_frame() function. Also, the position is expressed in meters.