Get, Set postion/orientation of a prim in Isaac Lab

Omniverse Isaac Sim
1

Hello,
i am working on a project with RL and started with Isaac gym. In the project i spawned some object that i needed, which was saved as a .usd file on my PC. And i needed it to know where it was and also how to move it around. For this i used get_world_pose()/set_world_pose(). Now my Team decided to move to the project to Isaac Lab and now i don’t find any funcaltion that is similiar to these to functions. There is no tutorial where i found how to move a prim. I found tutorials to either spwan a prim at a specific location or to move a robot with joints. But my object does not contain joints so this is not really an option.

Is there anything similar to get-/set_world_pose in Isaac Lab ? Or anyother way to read/write directly on the position of a prim.

i spawn my prims in Isaac Lab with:

usd_cfg=UsdFileCfg(usd_path=usd_file_path)
prim= usd_cfg.func(prim_path, usd_cfg)

usd_file_path is where the .usd file is saved on my PC and prim_path is the path of the prim in the scene.

Just to clarify, the object gets spawned this works, but i get an error when i try to use prim.get_world_pose(), which says that a prim does not have such a properties (same for set_world_pose()).

In Isaac Gym i used:

prim= scene.add(
        XFormPrim(
            prim_path=prim_path,
            name=name,
            position=pos,
            orientation=rot,
        )
    )

and then i could acces it with get-/set_world_pose()

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