How to control the control in real time with python, Franka robot root_joint state

I am creating a robotic arm with wheels, and I imported URDF and successfully completed the “pick up and place” task. However, when I wanted to make the wheels move, I encountered a problem.

Because importing URDF generates a “root_joint”, I am unable to move my wheeled robotic arm.

However, when I imported URDF, canceling the generation of “Fix Base Link” resulted in some inaccurate motion planning when executing RMPflow. I used the Franka case and canceled “root_joint”, but it still remained inaccurate. I’m not sure if this is related to “root_joint”.

So I think, when I crawl, I start root_joint, but how do I use Python to control the real-time opening and closing of root_joint?