[Python] How do I set the pose of an object in pydrake manually after creation?

I would like to create an object in pydrake that is loaded from a URDF (e.g. just a single-link URDF that has an object mesh), and be able to manually set the pose of the object as I wish after creation. What I've been doing so far is this:

urdf = FindResourceOrThrow(my_urdf_path)
parser.AddModelFromFile(urdf)
frame = plant.GetFrameByName("my_frame")
T = RigidTransform(p=pos, rpy=RollPitchYaw(rpy))
plant.WeldFrames(plant.world_frame(), frame, T)


That lets me set the pose on creation. However, I don't know how to change the pose once the plant has been finalized. I assume there's a way to do this but am struggling to find an example. Thanks in advance for your help.

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