warp.transform_set_translation

warp.transform_set_translation(

xform: Transformation[Float],

p: Vector[Float, Literal[3]],

) → None

• Kernel: true
• Python: true
• Differentiable: true

Set the translational part of the transform xform in place, leaving its rotation unchanged.

In a kernel, xform.p = p is equivalent.

Do not pass an array element directly: wp.transform_set_translation(xforms[i], p) modifies a discarded copy and contributes no gradients. Use xforms[i].p = p, or load, modify, and store the element.

Parameters:

• xform – Transformation to modify in place.

• p – New translation.

Example

@wp.kernel
def offset(xforms: wp.array[wp.transform], out: wp.array[wp.transform]):
    i = wp.tid()
    xform = xforms[i]
    wp.transform_set_translation(xform, wp.vec3(0.0, 0.0, 1.0))
    wp.transform_set_rotation(xform, wp.quat_identity())
    out[i] = xform

xform = wp.transform(wp.vec3(1.0, 2.0, 3.0), wp.quat_rpy(0.0, 0.0, wp.pi / 2.0))
xforms = wp.array([xform], dtype=wp.transform)
out = wp.empty(1, dtype=wp.transform)
wp.launch(offset, dim=1, inputs=[xforms], outputs=[out])
print(np.round(out.numpy(), 3))

[[0. 0. 1. 0. 0. 0. 1.]]