How to let Franka robot move forward

Hi guys:

I’m really sorry, I’m new to Isaac Sim and I still don’t understand a lot of things. I wanted to ask a question that seemed simple, but this one is very difficult for me. I’ve been working on it for two days now. I just want to make the end of the Franka robot simply move in a straight line now, what functions or classes do I need to use?

Thanks a lot.

Hi @user31891 - Have you referred these dynamic control documents?