gazebo::physics::Joint set world pose

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I'm new to Gazebo, and for my task, I need to get and set the cartesian coordinates of a robot joint (gazebo::physics::Joint). The gazebo::physics::Joint class has a method called GetWorldPose() which seems to get the 6d pose of the joint relative to the world frame, but I couldn't find an analogous method for setting the pose of the joint. I'll be glad if someone could point me in the right direction.