Getting poses and velocities in robot reference frame

I am trying to build upon the Franka examples in IsaacGymEnvs. It seems that all positions, rotations, velocities, and rotational velocities are given with respect to the world frame. I’d like to transform these values for the robot’s end effector from the world frame to the robot’s base frame.

I saw in the docs there were some functions that might be useful, particularly get_rigid_transform(), but it seems there’s not even a way to sequentially combine transformations with the isaacgym.gymapi.Transform class, and it’s not as simple as composing these transformations for the velocities case.

What’s the best way of doing this?