Hi @joshchiu - I apologize for the confusion. The TransformAPI is not a part of the pxr.UsdGeom module. Instead, you should use the Gf.Matrix4d() function to create a new transformation matrix. Here’s how you can modify the script:
from omni.isaac.dynamic_control import _dynamic_control
from pxr import Gf
# Acquire dynamic control interface
dc = _dynamic_control.acquire_dynamic_control_interface()
# Get the prim you want to move
prim_path = "/path/to/your/prim"
prim = dc.get_rigid_body(prim_path)
# Set the new location
new_location = Gf.Vec3f(1.0, 2.0, 3.0) # Replace with your desired location
# Set the new rotation
new_rotation = Gf.Rotation(Gf.Vec3d(1, 0, 0), 0) # Replace with your desired rotation
# Create a new transform
new_transform = Gf.Matrix4d(new_rotation.GetMatrix(), new_location)
# Apply the new transform
dc.set_rigid_body_pose(prim, new_transform)
```or, which are created from new_rotation and new_location, respectively.
This script will create a new transformation matrix using the `Gf.Matrix4d()` function and apply it to the specified prim. The `Gf.Matrix4d()` function takes two arguments: a rotation matrix and a translation vector, which are created from `new_rotation` and `new_location` , respectively.
If this doesn't work then I will try to find the expert who can help you resolve your issue.