> ## Documentation Index
> Fetch the complete documentation index at: https://docs.generalrobotics.dev/llms.txt
> Use this file to discover all available pages before exploring further.

# Pose Control

Manipulating poses is a common task when staging simulations, resetting robots, or arranging assets. AirGen exposes synchronized RPCs for querying and setting poses on robots and world objects.

```python theme={null}
import airgen

client = airgen.RobotClient()
client.confirmConnection()
```

This page complements the [GPS Navigation](/simulation/airgen/features/gps-navigation) and [Runtime Object Spawning](/simulation/airgen/features/runtime-object-spawning) guides by focusing on world-frame (`Pose`) operations.

## Query the Current Pose

```python theme={null}
from airgen.types import Pose

robot_pose = client.simGetRobotPose(robot_name="drone0")
object_pose = client.simGetObjectPose("Crate_01")

print("Robot altitude (m):", -robot_pose.position.z_val)
```

`simGetRobotPose` returns the pose relative to the robot's spawn origin in the world NED frame. `simGetObjectPose` reads the pose of movable actors in the scene.

## simSetRobotPose

Teleport a robot to a specified `Pose`. The parameters mirror the geodetic variant but operate in meters.

```python theme={null}
from airgen.types import Pose, Quaternionr, Vector3r

reset_pose = Pose(
    position_val=Vector3r(0.0, 0.0, -5.0),
    orientation_val=Quaternionr.from_euler_angles_degrees(0.0, 0.0, 180.0),
)

client.simSetRobotPose(
    pose=reset_pose,
    ignore_collision=False,
    sweep=True,
    on_ground=False,
    robot_name="drone0",
).join()
```

* Set `ignore_collision=True` to bypass collision checks.
* `sweep=True` performs a swept volume check between the current pose and target pose.
* `bounds_trim` shrinks the collision hull when collisions are enforced (`Vector3r(0.05, 0.05, 0.05)` by default).
* Enable `on_ground` for ground or legged robots to align with terrain height. Adjust `ground_trace_range_up` / `ground_trace_range_down` to bound the search region.

<Tip>
  The RPC returns a `msgpackrpc.future.Future`. Call `.join()` to wait without inspecting the result or `.get()` to retrieve the success flag.
</Tip>

## simSetObjectPose & simSetObjectGeoPose

Use the same pose structure to reposition movable world objects.

```python theme={null}
crate_pose = Pose(
    position_val=Vector3r(2.0, 3.0, -0.5),
    orientation_val=Quaternionr.from_euler_angles_degrees(0.0, 0.0, 45.0),
)

client.simSetObjectPose(
    object_name="Crate_01",
    pose=crate_pose,
    teleport=True,  # False applies physics-based interpolation
)
```

In georeferenced scenes, call `simSetObjectGeoPose` with a [`GeoPose`](/simulation/airgen/features/data-types#geopose) to align objects by latitude/longitude.

```python theme={null}
from airgen.types import GeoPoint, GeoPose

billboard_pose = GeoPose(
    geopoint_val=GeoPoint(37.7751, -122.4189, 12.0),
    orientation_val=Quaternionr.IDENTITY,
)
client.simSetObjectGeoPose("Billboard", billboard_pose)
```

## Working with Multiple Robots

Every pose setter accepts the optional `robot_name` parameter. This lets you orchestrate heterogeneous fleets from a single connection.

```python theme={null}
from airgen.types import Pose, Quaternionr, Vector3r

for robot in ["drone0", "car0", "quadruped0"]:
    client.simSetRobotPose(
        Pose(
            position_val=Vector3r.ZERO,
            orientation_val=Quaternionr.IDENTITY,
        ),
        ignore_collision=True,
        robot_name=robot,
    ).join()
```

Use the [Robots & AirGen Client](/simulation/airgen/features/robot) page to review how robot names are assigned within GRID sessions.

## Pose Validation Patterns

After issuing a pose command, validate the result by querying the pose and comparing it against the target within a tolerance.

```python theme={null}
import numpy as np

expected = reset_pose.position
actual = client.simGetRobotPose(robot_name="drone0").position

if np.isclose(expected.x_val, actual.x_val, atol=0.01):
    print("Pose update succeeded")
```

This pattern is especially useful when `ignore_collision=False`, because the simulator may reject placements that intersect the environment.

***

Use pose utilities alongside [Movement](/simulation/airgen/features/movement) for fine-grained control, and pair them with [Runtime Object Spawning](/simulation/airgen/features/runtime-object-spawning) when authoring dynamic scenes.