Hi @fm1930
A possible solution would be to calculate the transformation with respect to the world using the ComputeLocalToWorldTransform method as shown in the following snippet
import omni
from pxr import Usd, UsdGeom, Gf
stage = omni.usd.get_context().get_stage()
prim = stage.GetPrimAtPath("/World/ObjectA/ObjectB")
transform = Gf.Transform()
transform.SetMatrix(UsdGeom.Xformable(prim).ComputeLocalToWorldTransform(Usd.TimeCode.Default()))
position = transform.GetTranslation()
orientation = transform.GetRotation().GetQuat()
print(position)
print(orientation)