diff --git a/AirLib/include/api/RpcLibClientBase.hpp b/AirLib/include/api/RpcLibClientBase.hpp
index fa12e92ccf..6484578985 100644
--- a/AirLib/include/api/RpcLibClientBase.hpp
+++ b/AirLib/include/api/RpcLibClientBase.hpp
@@ -98,7 +98,7 @@ class RpcLibClientBase {
     CollisionInfo simGetCollisionInfo(const std::string& vehicle_name = "") const;
 
     CameraInfo simGetCameraInfo(const std::string& camera_name, const std::string& vehicle_name = "") const;
-    void simSetCameraOrientation(const std::string& camera_name, const Quaternionr& orientation, const std::string& vehicle_name = "");
+    void simSetCameraPose(const std::string& camera_name, const Pose& pose, const std::string& vehicle_name = "");
     void simSetCameraFov(const std::string& camera_name, float fov_degrees, const std::string& vehicle_name = "");
 
     msr::airlib::Kinematics::State simGetGroundTruthKinematics(const std::string& vehicle_name = "") const;
diff --git a/AirLib/include/api/VehicleSimApiBase.hpp b/AirLib/include/api/VehicleSimApiBase.hpp
index 25b9579b03..471a2cfd85 100644
--- a/AirLib/include/api/VehicleSimApiBase.hpp
+++ b/AirLib/include/api/VehicleSimApiBase.hpp
@@ -54,7 +54,7 @@ class VehicleSimApiBase : public msr::airlib::UpdatableObject {
     virtual const msr::airlib::Environment* getGroundTruthEnvironment() const = 0;
 
     virtual CameraInfo getCameraInfo(const std::string& camera_name) const = 0;
-    virtual void setCameraOrientation(const std::string& camera_name, const Quaternionr& orientation) = 0;
+    virtual void setCameraPose(const std::string& camera_name, const Pose& pose) = 0;
     virtual void setCameraFoV(const std::string& camera_name, float fov_degrees) = 0;
 
     virtual CollisionInfo getCollisionInfo() const = 0;
diff --git a/AirLib/src/api/RpcLibClientBase.cpp b/AirLib/src/api/RpcLibClientBase.cpp
index fa92f3b30f..b76a5a2f00 100644
--- a/AirLib/src/api/RpcLibClientBase.cpp
+++ b/AirLib/src/api/RpcLibClientBase.cpp
@@ -364,9 +364,9 @@ CameraInfo RpcLibClientBase::simGetCameraInfo(const std::string& camera_name, co
 {
     return pimpl_->client.call("simGetCameraInfo", camera_name, vehicle_name).as<RpcLibAdapatorsBase::CameraInfo>().to();
 }
-void RpcLibClientBase::simSetCameraOrientation(const std::string& camera_name, const Quaternionr& orientation, const std::string& vehicle_name)
+void RpcLibClientBase::simSetCameraPose(const std::string& camera_name, const Pose& pose, const std::string& vehicle_name)
 {
-    pimpl_->client.call("simSetCameraOrientation", camera_name, RpcLibAdapatorsBase::Quaternionr(orientation), vehicle_name);
+    pimpl_->client.call("simSetCameraPose", camera_name, RpcLibAdapatorsBase::Pose(pose), vehicle_name);
 }
 void RpcLibClientBase::simSetCameraFov(const std::string& camera_name, float fov_degrees, const std::string& vehicle_name)
 {
diff --git a/AirLib/src/api/RpcLibServerBase.cpp b/AirLib/src/api/RpcLibServerBase.cpp
index 913d9d677e..8ff8a90a82 100644
--- a/AirLib/src/api/RpcLibServerBase.cpp
+++ b/AirLib/src/api/RpcLibServerBase.cpp
@@ -229,9 +229,9 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
         return RpcLibAdapatorsBase::CameraInfo(camera_info);
     });
 
-    pimpl_->server.bind("simSetCameraOrientation", [&](const std::string& camera_name, const RpcLibAdapatorsBase::Quaternionr& orientation, 
+    pimpl_->server.bind("simSetCameraPose", [&](const std::string& camera_name, const RpcLibAdapatorsBase::Pose& pose, 
         const std::string& vehicle_name) -> void {
-        getVehicleSimApi(vehicle_name)->setCameraOrientation(camera_name, orientation.to());
+        getVehicleSimApi(vehicle_name)->setCameraPose(camera_name, pose.to());
     });
 
     pimpl_->server.bind("simSetCameraFov", [&](const std::string& camera_name, float fov_degrees,
diff --git a/PythonClient/airsim/client.py b/PythonClient/airsim/client.py
index 40896500c2..5f5793052c 100644
--- a/PythonClient/airsim/client.py
+++ b/PythonClient/airsim/client.py
@@ -417,17 +417,17 @@ def simGetCameraInfo(self, camera_name, vehicle_name = ''):
         # TODO: below str() conversion is only needed for legacy reason and should be removed in future
         return CameraInfo.from_msgpack(self.client.call('simGetCameraInfo', str(camera_name), vehicle_name))
 
-    def simSetCameraOrientation(self, camera_name, orientation, vehicle_name = ''):
+    def simSetCameraPose(self, camera_name, pose, vehicle_name = ''):
         """
-        - Control the orientation of a selected camera
+        - Control the pose of a selected camera
 
         Args:
             camera_name (str): Name of the camera to be controlled
-            orientation (Quaternionr): Quaternion representing the desired orientation of the camera
+            pose (Pose): Pose representing the desired position and orientation of the camera
             vehicle_name (str, optional): Name of vehicle which the camera corresponds to
         """
         # TODO: below str() conversion is only needed for legacy reason and should be removed in future
-        self.client.call('simSetCameraOrientation', str(camera_name), orientation, vehicle_name)
+        self.client.call('simSetCameraPose', str(camera_name), pose, vehicle_name)
 
     def simSetCameraFov(self, camera_name, fov_degrees, vehicle_name = ''):
         """
diff --git a/PythonClient/computer_vision/cv_mode.py b/PythonClient/computer_vision/cv_mode.py
index 188080ba2d..0691c0de7e 100644
--- a/PythonClient/computer_vision/cv_mode.py
+++ b/PythonClient/computer_vision/cv_mode.py
@@ -13,8 +13,9 @@
 client = airsim.VehicleClient()
 client.confirmConnection()
 
-airsim.wait_key('Press any key to set camera-0 gimble to 15-degree pitch')
-client.simSetCameraOrientation("0", airsim.to_quaternion(0.261799, 0, 0)); #radians
+airsim.wait_key('Press any key to set camera-0 gimbal to 15-degree pitch')
+camera_pose = airsim.Pose(airsim.Vector3r(0, 0, 0), airsim.to_quaternion(0.261799, 0, 0)) #radians
+client.simSetCameraPose("0", camera_pose)
 
 airsim.wait_key('Press any key to get camera parameters')
 for camera_name in range(5):
@@ -48,4 +49,4 @@
     time.sleep(3)
 
 # currently reset() doesn't work in CV mode. Below is the workaround
-client.simSetPose(airsim.Pose(airsim.Vector3r(0, 0, 0), airsim.to_quaternion(0, 0, 0)), True)
\ No newline at end of file
+client.simSetPose(airsim.Pose(airsim.Vector3r(0, 0, 0), airsim.to_quaternion(0, 0, 0)), True)
diff --git a/PythonClient/multirotor/gimbal.py b/PythonClient/multirotor/gimbal.py
index fef1aeb527..45beb6a232 100644
--- a/PythonClient/multirotor/gimbal.py
+++ b/PythonClient/multirotor/gimbal.py
@@ -17,7 +17,9 @@
 for i in range(5):
     client.moveToPositionAsync(float(-50.00), float( 50.26), float( -20.58), float( 3.5))
     time.sleep(6)
-    client.simSetCameraOrientation("0", airsim.to_quaternion(0.5, 0.5, 0.1))
+    camera_pose = airsim.Pose(airsim.Vector3r(0, 0, 0), airsim.to_quaternion(0.5, 0.5, 0.1))
+    client.simSetCameraPose("0", camera_pose)
     client.moveToPositionAsync(float(50.00), float( -50.26), float( -10.58), float( 3.5))
     time.sleep(6)
-    client.simSetCameraOrientation("0", airsim.to_quaternion(-0.5, -0.5, -0.1))
\ No newline at end of file
+    camera_pose = airsim.Pose(airsim.Vector3r(0, 0, 0), airsim.to_quaternion(-0.5, -0.5, -0.1))
+    client.simSetCameraPose("0", camera_pose)
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.cpp
index 4a698b8356..9c45287d57 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.cpp
+++ b/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.cpp
@@ -11,7 +11,7 @@ bool(*SetEnableApi)(bool enableApi, const char* vehicleName);
 bool(*SetCarApiControls)(msr::airlib::CarApiBase::CarControls controls, const char* vehicleName);
 AirSimCarState(*GetCarState)(const char* vehicleName);
 AirSimCameraInfo(*GetCameraInfo)(const char* cameraName, const char* vehicleName);
-bool(*SetCameraOrientation)(const char* cameraName, AirSimQuaternion orientation, const char* vehicleName);
+bool(*SetCameraPose)(const char* cameraName, AirSimPose pose, const char* vehicleName);
 bool(*SetCameraFoV)(const char* cameraName, const float fov_degrees, const char* vehicleName);
 bool(*SetSegmentationObjectId)(const char* meshName, int objectId, bool isNameRegex);
 int(*GetSegmentationObjectId)(const char* meshName);
@@ -33,7 +33,7 @@ void InitVehicleManager(
 	bool(*setCarApiControls)(msr::airlib::CarApiBase::CarControls controls, const char* vehicleName),
 	AirSimCarState(*getCarState)(const char* vehicleName),
 	AirSimCameraInfo(*getCameraInfo)(const char* cameraName, const char* vehicleName),
-	bool(*setCameraOrientation)(const char* cameraName, AirSimQuaternion orientation, const char* vehicleName),
+	bool(*setCameraPose)(const char* cameraName, AirSimPose pose, const char* vehicleName),
 	bool(*setCameraFoV)(const char* cameraName, const float fov_degrees, const char* vehicleName),
 	bool(*setSegmentationObjectId)(const char* meshName, int objectId, bool isNameRegex),
 	int(*getSegmentationObjectId)(const char* meshName),
@@ -55,7 +55,7 @@ void InitVehicleManager(
 	SetCarApiControls = setCarApiControls;
 	GetCarState = getCarState;
 	GetCameraInfo = getCameraInfo;
-	SetCameraOrientation = setCameraOrientation;
+	SetCameraPose = setCameraPose;
 	SetCameraFoV = setCameraFoV;
 	SetSegmentationObjectId = setSegmentationObjectId;
 	GetSegmentationObjectId = getSegmentationObjectId;
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.h b/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.h
index 9bb45c54b8..36c22c2e1e 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.h
+++ b/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.h
@@ -25,7 +25,7 @@ extern bool(*SetEnableApi)(bool enableApi, const char* vehicleName);
 extern bool(*SetCarApiControls)(msr::airlib::CarApiBase::CarControls controls, const char* vehicleName);
 extern AirSimCarState(*GetCarState)(const char* vehicleName);
 extern AirSimCameraInfo(*GetCameraInfo)(const char* cameraName, const char* vehicleName);
-extern bool(*SetCameraOrientation)(const char* cameraName, AirSimQuaternion orientation, const char* vehicleName);
+extern bool(*SetCameraPose)(const char* cameraName, AirSimPose pose, const char* vehicleName);
 extern bool(*SetCameraFoV)(const char* cameraName, const float fov_degrees, const char* vehicleName);
 extern bool(*SetSegmentationObjectId)(const char* meshName, int objectId, bool isNameRegex);
 extern int(*GetSegmentationObjectId)(const char* meshName);
@@ -49,7 +49,7 @@ extern "C" EXPORT void InitVehicleManager(
 	bool(*setCarApiControls)(msr::airlib::CarApiBase::CarControls controls, const char* vehicleName),
 	AirSimCarState(*getCarState)(const char* vehicleName),
 	AirSimCameraInfo(*getCameraInfo)(const char* cameraName, const char* vehicleName),
-	bool(*setCameraOrientation)(const char* cameraName, AirSimQuaternion orientation, const char* vehicleName),
+	bool(*setCameraPose)(const char* cameraName, AirSimPose pose, const char* vehicleName),
 	bool(*setCameraFoV)(const char* cameraName, const float fov_degrees, const char* vehicleName),
 	bool(*setSegmentationObjectId)(const char* meshName, int objectId, bool isNameRegex),
 	int(*getSegmentationObjectId)(const char* meshName),
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.cpp
index cacadce82f..e4b5966142 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.cpp
+++ b/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.cpp
@@ -210,15 +210,9 @@ msr::airlib::CameraInfo PawnSimApi::getCameraInfo(const std::string& camera_name
 	return camera_info;
 }
 
-void PawnSimApi::setCameraOrientation(const std::string& camera_name, const msr::airlib::Quaternionr& orientation)
+void PawnSimApi::setCameraPose(const std::string& camera_name, const msr::airlib::Pose& pose)
 {
-	AirSimQuaternion airSimOrientation;
-	airSimOrientation.x = orientation.x();
-	airSimOrientation.y = orientation.y();
-	airSimOrientation.z = orientation.z();
-	airSimOrientation.w = orientation.w();
-
-	SetCameraOrientation(camera_name.c_str(), airSimOrientation, params_.vehicle_name.c_str());
+	SetCameraPose(camera_name.c_str(), UnityUtilities::Convert_to_AirSimPose(pose), params_.vehicle_name.c_str());
 }
 
 void PawnSimApi::setCameraFoV(const std::string& camera_name, float fov_degrees)
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.h b/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.h
index 0108cc01b5..6525666e88 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.h
+++ b/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.h
@@ -72,7 +72,7 @@ class PawnSimApi : public msr::airlib::VehicleSimApiBase
 	virtual Pose getPose() const override;
 	virtual void setPose(const Pose& pose, bool ignore_collision) override;
 	virtual msr::airlib::CameraInfo getCameraInfo(const std::string& camera_name) const override;
-	virtual void setCameraOrientation(const std::string& camera_name, const Quaternionr& orientation) override;
+	virtual void setCameraPose(const std::string& camera_name, const Pose& pose) override;
 	virtual void setCameraFoV(const std::string& camera_name, float fov_degrees) override;
 	virtual CollisionInfo getCollisionInfo() const override;
 	virtual int getRemoteControlID() const override;
diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/DataCaptureScript.cs b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/DataCaptureScript.cs
index 41121e65cd..1a970a7227 100644
--- a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/DataCaptureScript.cs
+++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/DataCaptureScript.cs
@@ -23,7 +23,7 @@ public class DataCaptureScript : MonoBehaviour {
         private Texture2D screenShot;
         private Rect captureRect;
         private AirSimPose currentPose;
-        private Quaternion poseFromAirLib;
+        private Pose poseFromAirLib;
 
         private bool isCapturing;
         private bool isPoseOverride;
@@ -40,7 +40,8 @@ private void FixedUpdate() {
             DataManager.SetToAirSim(transform.rotation, ref currentPose.orientation);
 
             if (isPoseOverride) {
-                transform.rotation = poseFromAirLib;
+                transform.position = poseFromAirLib.position;
+                transform.rotation = poseFromAirLib.rotation;
                 isPoseOverride = false;
             }
         }
@@ -89,8 +90,9 @@ public AirSimPose GetPose() {
             return currentPose;
         }
 
-        public void SetOrientation(AirSimQuaternion orientation) {
-            DataManager.SetToUnity(orientation, ref poseFromAirLib);
+        public void SetPose(AirSimPose pose) {
+            DataManager.SetToUnity(pose.position, ref poseFromAirLib.position);
+            DataManager.SetToUnity(pose.orientation, ref poseFromAirLib.rotation);
             isPoseOverride = true;
         }
 
diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/PInvokeWrapper.cs b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/PInvokeWrapper.cs
index ac1ec3deb8..8f156909ce 100644
--- a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/PInvokeWrapper.cs
+++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/PInvokeWrapper.cs
@@ -13,7 +13,7 @@ public static class PInvokeWrapper {
         [DllImport(DLL_NAME)]
         public static extern void InitVehicleManager(IntPtr SetPose, IntPtr GetPose, IntPtr GetCollisionInfo, IntPtr GetRCData,
             IntPtr GetSimImages, IntPtr SetRotorSpeed, IntPtr SetEnableApi, IntPtr SetCarApiControls, IntPtr GetCarState,
-            IntPtr GetCameraInfo, IntPtr SetCameraOrientation, IntPtr SetCameraFoV, IntPtr SetSegmentationObjectid, IntPtr GetSegmentationObjectId,
+            IntPtr GetCameraInfo, IntPtr SetCameraPose, IntPtr SetCameraFoV, IntPtr SetSegmentationObjectid, IntPtr GetSegmentationObjectId,
             IntPtr PrintLogMessage, IntPtr GetTransformFromUnity, IntPtr Reset, IntPtr GetVelocity, IntPtr GetRayCastHit, IntPtr Pause);
 
         [DllImport(DLL_NAME)]
diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/IVehicleInterface.cs b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/IVehicleInterface.cs
index 7a865ddee4..2809319985 100644
--- a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/IVehicleInterface.cs
+++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/IVehicleInterface.cs
@@ -33,7 +33,7 @@ public interface IVehicleInterface {
 
         CameraInfo GetCameraInfo(string cameraName);
 
-        bool SetCameraOrientation(string cameraName, AirSimQuaternion orientation);
+        bool SetCameraPose(string cameraName, AirSimPose pose);
 
         bool SetCameraFoV(string cameraName, float fov_degrees);
 
diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/Vehicle.cs b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/Vehicle.cs
index 488b80fdc3..2049d2eecd 100644
--- a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/Vehicle.cs
+++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/Vehicle.cs
@@ -264,10 +264,10 @@ public CameraInfo GetCameraInfo(string cameraName) {
             return info;
         }
 
-        public bool SetCameraOrientation(string cameraName, AirSimQuaternion orientation) {
+        public bool SetCameraPose(string cameraName, AirSimPose pose) {
             foreach (DataCaptureScript capture in captureCameras) {
                 if (capture.GetCameraName() == cameraName) {
-                    capture.SetOrientation(orientation);
+                    capture.SetPose(pose);
                     return true;
                 }
             }
diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/VehicleCompanion.cs b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/VehicleCompanion.cs
index 20015e93ff..ce674191e7 100644
--- a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/VehicleCompanion.cs
+++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/VehicleCompanion.cs
@@ -93,7 +93,7 @@ private static void InitDelegators() {
                 Marshal.GetFunctionPointerForDelegate(new Func<CarControls, string, bool>(SetCarApiControls)),
                 Marshal.GetFunctionPointerForDelegate(new Func<string, CarState>(GetCarState)),
                 Marshal.GetFunctionPointerForDelegate(new Func<string, string, CameraInfo>(GetCameraInfo)),
-                Marshal.GetFunctionPointerForDelegate(new Func<string, AirSimQuaternion, string, bool>(SetCameraOrientation)),
+                Marshal.GetFunctionPointerForDelegate(new Func<string, AirSimPose, string, bool>(SetCameraPose)),
                 Marshal.GetFunctionPointerForDelegate(new Func<string, float, string, bool>(SetCameraFoV)),
                 Marshal.GetFunctionPointerForDelegate(new Func<string, int, bool, bool>(SetSegmentationObjectId)),
                 Marshal.GetFunctionPointerForDelegate(new Func<string, int>(GetSegmentationObjectId)),
@@ -184,9 +184,9 @@ private static CameraInfo GetCameraInfo(string cameraName, string vehicleName) {
             return vehicle.VehicleInterface.GetCameraInfo(cameraName);
         }
 
-        private static bool SetCameraOrientation(string cameraName, AirSimQuaternion orientation, string vehicleName) {
+        private static bool SetCameraPose(string cameraName, AirSimPose pose, string vehicleName) {
             var vehicle = Vehicles.Find(element => element.vehicleName == vehicleName);
-            return vehicle.VehicleInterface.SetCameraOrientation(cameraName, orientation);
+            return vehicle.VehicleInterface.SetCameraPose(cameraName, pose);
         }
 
         private static bool SetCameraFoV(string cameraName, float fov_degrees, string vehicleName) {
diff --git a/Unreal/Plugins/AirSim/Source/NedTransform.cpp b/Unreal/Plugins/AirSim/Source/NedTransform.cpp
index 112e54d355..384f74a513 100644
--- a/Unreal/Plugins/AirSim/Source/NedTransform.cpp
+++ b/Unreal/Plugins/AirSim/Source/NedTransform.cpp
@@ -66,6 +66,14 @@ FVector NedTransform::fromLocalNed(const NedTransform::Vector3r& position) const
 {
     return NedTransform::toFVector(position, world_to_meters_, true) + local_ned_offset_;
 }
+FVector NedTransform::fromRelativeNed(const NedTransform::Vector3r& position) const
+{
+    return NedTransform::toFVector(position, world_to_meters_, true);
+}
+FTransform NedTransform::fromRelativeNed(const Pose& pose) const
+{
+    return FTransform(fromNed(pose.orientation), fromRelativeNed(pose.position));
+}
 FVector NedTransform::fromGlobalNed(const NedTransform::Vector3r& position) const
 {
     return NedTransform::toFVector(position, world_to_meters_, true) + global_transform_.GetLocation();
diff --git a/Unreal/Plugins/AirSim/Source/NedTransform.h b/Unreal/Plugins/AirSim/Source/NedTransform.h
index 1c3ebf644e..717b1aaa14 100644
--- a/Unreal/Plugins/AirSim/Source/NedTransform.h
+++ b/Unreal/Plugins/AirSim/Source/NedTransform.h
@@ -42,6 +42,8 @@ class AIRSIM_API NedTransform
     FVector fromGlobalNed(const Vector3r& position) const;
     FQuat fromNed(const Quaternionr& q) const;
     float fromNed(float length) const;
+    FVector fromRelativeNed(const Vector3r& position) const;
+    FTransform fromRelativeNed(const Pose& pose) const;
     FTransform fromLocalNed(const Pose& pose) const;
     FTransform fromGlobalNed(const Pose& pose) const;
 
diff --git a/Unreal/Plugins/AirSim/Source/PIPCamera.cpp b/Unreal/Plugins/AirSim/Source/PIPCamera.cpp
index 03ef6c3369..e0bd8da737 100644
--- a/Unreal/Plugins/AirSim/Source/PIPCamera.cpp
+++ b/Unreal/Plugins/AirSim/Source/PIPCamera.cpp
@@ -244,8 +244,12 @@ void APIPCamera::setCameraTypeEnabled(ImageType type, bool enabled)
     enableCaptureComponent(type, enabled);
 }
 
-void APIPCamera::setCameraOrientation(const FRotator& rotator)
+void APIPCamera::setCameraPose(const FTransform& pose)
 {
+    FVector position = pose.GetLocation();
+    this->SetActorRelativeLocation(pose.GetLocation());
+
+    FRotator rotator = pose.GetRotation().Rotator();
     if (gimbal_stabilization_ > 0) {
         gimbald_rotator_.Pitch = rotator.Pitch;
         gimbald_rotator_.Roll = rotator.Roll;
diff --git a/Unreal/Plugins/AirSim/Source/PIPCamera.h b/Unreal/Plugins/AirSim/Source/PIPCamera.h
index 99cfb54da0..311ed83268 100644
--- a/Unreal/Plugins/AirSim/Source/PIPCamera.h
+++ b/Unreal/Plugins/AirSim/Source/PIPCamera.h
@@ -41,7 +41,7 @@ class AIRSIM_API APIPCamera : public ACameraActor
     void setCameraTypeEnabled(ImageType type, bool enabled);
     bool getCameraTypeEnabled(ImageType type) const;
     void setupCameraFromSettings(const APIPCamera::CameraSetting& camera_setting, const NedTransform& ned_transform);
-    void setCameraOrientation(const FRotator& rotator);
+    void setCameraPose(const FTransform& pose);
     void setCameraFoV(float fov_degrees);
 
     msr::airlib::ProjectionMatrix getProjectionMatrix(const APIPCamera::ImageType image_type) const;
diff --git a/Unreal/Plugins/AirSim/Source/PawnSimApi.cpp b/Unreal/Plugins/AirSim/Source/PawnSimApi.cpp
index ee89d0c3bb..9da9d1d61d 100644
--- a/Unreal/Plugins/AirSim/Source/PawnSimApi.cpp
+++ b/Unreal/Plugins/AirSim/Source/PawnSimApi.cpp
@@ -409,12 +409,12 @@ msr::airlib::CameraInfo PawnSimApi::getCameraInfo(const std::string& camera_name
     return camera_info;
 }
 
-void PawnSimApi::setCameraOrientation(const std::string& camera_name, const msr::airlib::Quaternionr& orientation)
+void PawnSimApi::setCameraPose(const std::string& camera_name, const msr::airlib::Pose& pose)
 {
-    UAirBlueprintLib::RunCommandOnGameThread([this, camera_name, orientation]() {
+    UAirBlueprintLib::RunCommandOnGameThread([this, camera_name, pose]() {
         APIPCamera* camera = getCamera(camera_name);
-        FQuat quat = ned_transform_.fromNed(orientation);
-        camera->setCameraOrientation(quat.Rotator());
+        FTransform pose_unreal = ned_transform_.fromRelativeNed(pose);
+        camera->setCameraPose(pose_unreal);
     }, true);
 }
 
diff --git a/Unreal/Plugins/AirSim/Source/PawnSimApi.h b/Unreal/Plugins/AirSim/Source/PawnSimApi.h
index c67922abfd..2148ae16cb 100644
--- a/Unreal/Plugins/AirSim/Source/PawnSimApi.h
+++ b/Unreal/Plugins/AirSim/Source/PawnSimApi.h
@@ -77,7 +77,7 @@ class PawnSimApi : public msr::airlib::VehicleSimApiBase {
     virtual Pose getPose() const override;
     virtual void setPose(const Pose& pose, bool ignore_collision) override;
     virtual msr::airlib::CameraInfo getCameraInfo(const std::string& camera_name) const override;
-    virtual void setCameraOrientation(const std::string& camera_name, const Quaternionr& orientation) override;
+    virtual void setCameraPose(const std::string& camera_name, const Pose& pose) override;
     virtual void setCameraFoV(const std::string& camera_name, float fov_degrees) override;
     virtual CollisionInfo getCollisionInfo() const override;
     virtual int getRemoteControlID() const override;
diff --git a/docs/image_apis.md b/docs/image_apis.md
index 8ecf384244..7c440ce66e 100644
--- a/docs/image_apis.md
+++ b/docs/image_apis.md
@@ -166,9 +166,10 @@ To move around the environment using APIs you can use `simSetVehiclePose` API. T
 ## Camera APIs
 The `simGetCameraInfo` returns the pose (in world frame, NED coordinates, SI units) and FOV (in degrees) for the specified camera. Please see [example usage](https://github.com/Microsoft/AirSim/tree/master/PythonClient//computer_vision/cv_mode.py).
 
-The `simSetCameraOrientation` sets the orientation for the specified camera as quaternion in NED frame. The handy `airsim.to_quaternion()` function allows to convert pitch, roll, yaw to quaternion. For example, to set camera-0 to 15-degree pitch, you can use:
+The `simSetCameraPose` sets the pose for the specified camera while taking an input pose as a combination of relative position and a quaternion in NED frame. The handy `airsim.to_quaternion()` function allows to convert pitch, roll, yaw to quaternion. For example, to set camera-0 to 15-degree pitch while maintaining the same position, you can use:
 ```
-client.simSetCameraOrientation(0, airsim.to_quaternion(0.261799, 0, 0)); #radians
+camera_pose = airsim.Pose(airsim.Vector3r(0, 0, 0), airsim.to_quaternion(0.261799, 0, 0))  #RPY in radians
+client.simSetCameraPose(0, camera_pose);
 ```
 
 ### Gimbal
diff --git a/ros/src/airsim_ros_pkgs/include/airsim_ros_wrapper.h b/ros/src/airsim_ros_pkgs/include/airsim_ros_wrapper.h
index 2e96c9c6db..5ff3023c04 100644
--- a/ros/src/airsim_ros_pkgs/include/airsim_ros_wrapper.h
+++ b/ros/src/airsim_ros_pkgs/include/airsim_ros_wrapper.h
@@ -281,6 +281,7 @@ class AirsimROSWrapper
     nav_msgs::Odometry get_odom_msg_from_multirotor_state(const msr::airlib::MultirotorState& drone_state) const;
     nav_msgs::Odometry get_odom_msg_from_car_state(const msr::airlib::CarApiBase::CarState& car_state) const;
     airsim_ros_pkgs::CarState get_roscarstate_msg_from_car_state(const msr::airlib::CarApiBase::CarState& car_state) const;
+    msr::airlib::Pose get_airlib_pose(const float& x, const float& y, const float& z, const msr::airlib::Quaternionr& airlib_quat) const;
     airsim_ros_pkgs::GPSYaw get_gps_msg_from_airsim_geo_point(const msr::airlib::GeoPoint& geo_point) const;
     sensor_msgs::NavSatFix get_gps_sensor_msg_from_airsim_geo_point(const msr::airlib::GeoPoint& geo_point) const;
     sensor_msgs::Imu get_imu_msg_from_airsim(const msr::airlib::ImuBase::Output& imu_data) const;
diff --git a/ros/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp b/ros/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp
index 9a1f7eb2c3..3329a37d1e 100644
--- a/ros/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp
+++ b/ros/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp
@@ -482,6 +482,11 @@ void AirsimROSWrapper::car_cmd_cb(const airsim_ros_pkgs::CarControls::ConstPtr&
     car->has_car_cmd = true;
 }
 
+msr::airlib::Pose AirsimROSWrapper::get_airlib_pose(const float& x, const float& y, const float& z, const msr::airlib::Quaternionr& airlib_quat) const
+{
+    return msr::airlib::Pose(msr::airlib::Vector3r(x, y, z), airlib_quat);
+}
+
 // void AirsimROSWrapper::vel_cmd_body_frame_cb(const airsim_ros_pkgs::VelCmd& msg, const std::string& vehicle_name)
 void AirsimROSWrapper::vel_cmd_body_frame_cb(const airsim_ros_pkgs::VelCmd::ConstPtr& msg, const std::string& vehicle_name)
 {
@@ -626,7 +631,7 @@ void AirsimROSWrapper::gimbal_angle_quat_cmd_cb(const airsim_ros_pkgs::GimbalAng
 // todo support multiple gimbal commands
 // 1. find quaternion of default gimbal pose
 // 2. forward multiply with quaternion equivalent to desired euler commands (in degrees)
-// 3. call airsim client's setcameraorientation which sets camera orientation wrt world (or takeoff?) ned frame. todo 
+// 3. call airsim client's setCameraPose which sets camera pose wrt world (or takeoff?) ned frame. todo 
 void AirsimROSWrapper::gimbal_angle_euler_cmd_cb(const airsim_ros_pkgs::GimbalAngleEulerCmd& gimbal_angle_euler_cmd_msg)
 {
     try
@@ -1181,11 +1186,11 @@ void AirsimROSWrapper::update_commands()
         }
     }
 
-    // todo add and expose a gimbal angular velocity to airlib
+    // Only camera rotation, no translation movement of camera 
     if (has_gimbal_cmd_)
     {
         std::lock_guard<std::mutex> guard(drone_control_mutex_);
-        airsim_client_->simSetCameraOrientation(gimbal_cmd_.camera_name, gimbal_cmd_.target_quat, gimbal_cmd_.vehicle_name);
+        airsim_client_.simSetCameraPose(gimbal_cmd_.camera_name, get_airlib_pose(0, 0, 0, gimbal_cmd_.target_quat), gimbal_cmd_.vehicle_name);
     }
 
     has_gimbal_cmd_ = false;