Faster way to retrieve world pose of a prim

Omniverse Isaac Sim
1

Hi,

I am developing a standalone application in Isaac sim, where I need to retrieve the world pose of a prim on every iteration of the physics loop. However I need a high frequency on that loop and I noticed that get_worl_pose() from XFormPrim takes around 0.00339s to execute in my hardware configuration.

T_tcp = XFormPrim(“/World/Robot/wrist_3_link”).get_world_pose()

Is there a way to retrieve world poses from a prim in a faster way?

Thank you in advance