parameters: (self,name,R=so3.identity(),t=[0]*3,matrix=None)
docstring: Sets the transform of the target object.  If matrix is given, it's a 16-element 
          array giving the 4x4 homogeneous transform matrix, in row-major format.  Otherwise,
          R and t are the 9-element klampt.so3 rotation and 3-element translation.
docstring_summary: Sets the transform of the target object.  If matrix is given, it's a 16-element 
          array giving the 4x4 homogeneous transform matrix, in row-major format.  Otherwise,
          R and t are the 9-element klampt.so3 rotation and 3-element translation.
docstring_tokens: Sets the transform of the target object . If matrix is given it s a 16 - element array giving the 4x4 homogeneous transform matrix in row - major format . Otherwise R and t are the 9 - element klampt . so3 rotation and 3 - element translation .
function: def setTransform(self,name,R=so3.identity(),t=[0]*3,matrix=None):
          """Sets the transform of the target object.  If matrix is given, it's a 16-element 
          array giving the 4x4 homogeneous transform matrix, in row-major format.  Otherwise,
          R and t are the 9-element klampt.so3 rotation and 3-element translation."""
          if matrix is not None:
              self._do_rpc({'type':'set_transform','object':name,'matrix':matrix})
          else:
              self._do_rpc({'type':'set_transform','object':name,'matrix':[R[0],R[3],R[6],t[0],R[1],R[4],R[7],t[1],R[2],R[5],R[8],t[2],0,0,0,1]})
function_tokens: def setTransform ( self , name , R = so3 . identity ( ) , t = [ 0 ] * 3 , matrix = None ) : if matrix is not None : self . _do_rpc ( { 'type' : 'set_transform' , 'object' : name , 'matrix' : matrix } ) else : self . _do_rpc ( { 'type' : 'set_transform' , 'object' : name , 'matrix' : [ R [ 0 ] , R [ 3 ] , R [ 6 ] , t [ 0 ] , R [ 1 ] , R [ 4 ] , R [ 7 ] , t [ 1 ] , R [ 2 ] , R [ 5 ] , R [ 8 ] , t [ 2 ] , 0 , 0 , 0 , 1 ] } )