---
title: "Apply Relative Pose"
method: POST
path: "/prims/poses/relative"
tags: ["Prims"]
---

# Apply Relative Pose

`POST /prims/poses/relative`

Applies a relative pose to a prim using WS Cartesian format. This modifies the prim's pose by composing it with the input relative transform as a full SE(3) transformation (the relative translation is rotated into the correct frame).
If `object_first` is True, the relative pose is interpreted in the object's local frame (T_new = T_object ∘ T_relative); otherwise it is interpreted in the world frame (T_new = T_relative ∘ T_object).

## Request body

- BodyApplyRelativePose
  - `relative_pose` WSPose, required
    - `pose` number[] — Pose in rotation vector format (WS)
  - `object_first` boolean — Controls the SE(3) composition order. If True, the relative pose is applied in the object's local frame (T_new = T_object ∘ T_relative). If False, the relative pose is applied in the world frame (T_new = T_relative ∘ T_object).
  - `prim_path` string, required — Prim path of the object

## Response `204`

Relative pose set successfully

## Other responses

- `404` — Invalid prim path
- `422` — Validation Error
- `500` — Unable to set relative pose for the prim

---

[API](https://skmtc.dev/wandelbotsgmbh/apis/wandelbots-nova-isaac-sim-extension-api.md) · [All operations](https://skmtc.dev/wandelbotsgmbh/apis/wandelbots-nova-isaac-sim-extension-api/llms.txt) · [OpenAPI document](https://skmtc.dev/wandelbotsgmbh/apis/wandelbots-nova-isaac-sim-extension-api/revisions/7c68cc61ef01?raw)