How to obtain transformation from franka manipulator to a prim object in a scene

[C3Whele]

For sending a pose command to panda_manipulator, I use geometry_msgs.msg.Pose() and pass an x,y,z position. To obtain an asset’s pose in isaac sim I use XFormPrim().get_world_pose(). How can I obtain the asset’s pose relative to the panda_manipulator?