[Question]: Getting joint cartesian positions whenever a robot moves to a different pose

[zainabsaeed24]

Question

We would like to find the joint cartesian (x,y,z) position for all joints whenever a robot moves to a different pose.
End Goal: We are trying to do collision checking of viperx with any stationary object with not only gripper position but with viperx body as well.

Robot Model

viperx 300s

Operating System

Ubuntu 20.04

ROS Version

ROS 1 Noetic

Additional Info

No response