get_link_position_function() happens problem for mobile dual-arm robot

[duISIR]

Hi,

There happens problem in get_link_position_function.
For mobile dual-arm robot, its floating base is called donkey_base. The end-effector links of two arms are called LARM_END_EFFECTOR_grasp and RARM_END_EFFECTOR_grasp, respectively.
The world link is called base_link.

During the running process of the mobile robot, I want to calculate the relative position of the end-effectors in the donkey_base frame. However, their position w.r.t the donkey_base are not correct.
PS. I have already checked the the end-effectors' positions w.r.t. the base link (this is the global frame) are correct.

Maybe the issue happens due to the same probem in in . Or maybe the get_link_transform in model.py happens some problems.

Thank you very much in advance.