Output relative distance / velocity of two solid bodies

I want to create a controller where Body1 attempts to move to the position and orientation of Body2. The controller inputs are the relative distance and velocity components in xyz as well as a rotation (euler angles or quaternion).

Do I need to have a 6-DOF between the rigid transform and Body2 in order to have sensor outputs?

What should the arranglement of coordinate transformations look like in terms of base and follower to achieve this?

[Manikanta Aditya]

Yes, you would need a 6-DOF (Degrees of Freedom) representation between the rigid transform and Body2 to have sensor outputs that capture both position and orientation. This is because in 3D space, an object has 3 DOFs for translation (movement along X, Y, Z axes) and 3 DOFs for rotation (rotation about X, Y, Z axes), totaling 6 DOFs.