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Set Position of Joint using C++ API

How to set position of joint using C++ API ? I found, joint->SetPosition(index, position);

But, is there any way to set pose of joint with respect to world?

Like, can I set pose of joint using position[x,y,z] and orientation[qx,qy,qz,qw] ?

Set Position of Joint using C++ API

How to set position of joint using C++ API ? I found, joint->SetPosition(index, position);

But, is there any way to set pose of joint with respect to world?

world position? Like, can I set pose of joint using position[x,y,z] and orientation[qx,qy,qz,qw] ?

Set Position of Joint using C++ API

How to set position of joint using C++ API ? I found, joint->SetPosition(index, position);position/angle);

But, is there any way other efficient way/function to set pose position of joint with world position? Like, can I set pose of joint using position[x,y,z] and orientation[qx,qy,qz,qw] ?