How to get the robot pose (x, y, z, roll, pitch, yaw) in world frame?

[DeepDuke]

I want to get the ground truth pose (x, y, z, roll, pitch, yaw) for a robot in simulation. Could anyone tell me how to get it? It seems very hard to find the api?

[BenjaminDeleze]

You can get it with a supervisor: https://cyberbotics.com/doc/reference/supervisor#wb_supervisor_node_get_position

[FrogGuaGuaGua]

#5387

[DeepDuke]

Thank you!