# Get the World Space Transforms for a Prim¶

If you need to get the transformation of a prim in world space (i.e. taking into account the transformations of any ancestor prims), you can use a convenience function in Kit, omni.usd.get_world_transform_matrix(). Alternatively, you can use UsdGeom.Xformable.ComputeLocalToWorldTransform() or UsdGeom.XformCache.GetLocalToWorldTransform() to get the world transformation matrix. Once you have the matrix, decompose it into individual xform components.

## omni.usd API¶

```def get_world_transform_xform(prim: Usd.Prim) -> typing.Tuple[Gf.Vec3d, Gf.Rotation, Gf.Vec3d]
"""
Get the local transformation of a prim using omni.usd.get_world_transform_matrix().
See https://docs.omniverse.nvidia.com/kit/docs/omni.usd/latest/omni.usd/omni.usd.get_world_transform_matrix.html
Args:
prim: The prim to calculate the world transformation.
Returns:
A tuple of:
- Translation vector.
- Rotation quaternion, i.e. 3d vector plus angle.
- Scale vector.
"""
world_transform: Gf.Matrix4d = omni.usd.get_world_transform_matrix(prim)
translation: Gf.Vec3d = world_transform.ExtractTranslation()
rotation: Gf.Rotation = world_transform.ExtractRotation()
scale: Gf.Vec3d = Gf.Vec3d(*(v.GetLength() for v in world_transform.ExtractRotationMatrix()))
return translation, rotation, scale
```

## USD API¶

```import typing
from pxr import Usd, UsdGeom, Gf

def get_world_transform_xform(prim: Usd.Prim) -> typing.Tuple[Gf.Vec3d, Gf.Rotation, Gf.Vec3d]:
"""
Get the local transformation of a prim using Xformable.
See https://graphics.pixar.com/usd/release/api/class_usd_geom_xformable.html
Args:
prim: The prim to calculate the world transformation.
Returns:
A tuple of:
- Translation vector.
- Rotation quaternion, i.e. 3d vector plus angle.
- Scale vector.
"""
xform = UsdGeom.Xformable(prim)
time = Usd.TimeCode.Default() # The time at which we compute the bounding box
world_transform: Gf.Matrix4d = xform.ComputeLocalToWorldTransform(time)
translation: Gf.Vec3d = world_transform.ExtractTranslation()
rotation: Gf.Rotation = world_transform.ExtractRotation()
scale: Gf.Vec3d = Gf.Vec3d(*(v.GetLength() for v in world_transform.ExtractRotationMatrix()))
return translation, rotation, scale
```

Alternatively, if you need to compute the world transform for multiple prims on a stage, UsdGeom.XformCache is more efficient.

```import typing
from pxr import Usd, UsdGeom, Gf

def get_world_transform_cache(cache: UsdGeom.XformCache, prim: Usd.Prim) -> typing.Tuple[Gf.Vec3d, Gf.Rotation, Gf.Vec3d]:
"""
Get the local transformation of a prim using UsdGeom.XformCache.
See: https://graphics.pixar.com/usd/release/api/class_usd_geom_xform_cache.html
Args:
cache: A cache, created for example as `UsdGeom.XformCache()`
prim: The prim to calculate the world transformation.
Returns:
A tuple of:
- Translation vector.
- Rotation quaternion, i.e. 3d vector plus angle.
- Scale vector.
"""
time = Usd.TimeCode.Default() # The time at which we compute the bounding box
world_transform: Gf.Matrix4d = cache.GetLocalToWorldTransform(time)
translation: Gf.Vec3d = world_transform.ExtractTranslation()
rotation: Gf.Rotation = world_transform.ExtractRotation()
scale: Gf.Vec3d = Gf.Vec3d(*(v.GetLength() for v in world_transform.ExtractRotationMatrix()))
return translation, rotation, scale
```