setTransform

Fully qualified name: isaacsim::core::includes::transforms::setTransform

inline void isaacsim::core::includes::transforms::setTransform(

pxr::UsdPrim &prim,

pxr::GfVec3f bodyTranslation,

pxr::GfQuatf bodyRotation,

)

Sets the transform (position and rotation) of a USD prim.

Handles different types of objects appropriately:

1. For articulated objects:

   • Wakes up the articulation

   • Sets root body pose

   • Resets velocities

2. For rigid bodies:

   • Wakes up the body

   • Sets pose directly

   • Resets velocities

3. For regular prims:

   • Computes and sets local transform

   • Handles parent space correctly

Note

For physics objects, this function only works during simulation

Warning

Resets linear and angular velocities to zero for physics objects

Parameters:

• prim – [inout] USD prim to transform

• bodyTranslation – [in] New position in world space

• bodyRotation – [in] New rotation in world space