I stumbled across the function setWorldOrigin(relativeTransform:) from the ARSession which is documented here: https://developer.apple.com/documentation/arkit/arsession/2942278-setworldorigin
I made a custom ARSession where i override this function and print and modify the relativeTransform parameter. The print shows that this function is called with an updated relativeTransform value but it seems that it has no impact e.g. on the world origin when starting or continuing a scan, the tiny puppet house in RoomPlan or any tracking position that i get from ARKit.
Has anybody experience with this method or knows what parts are influenced by setWorldOrigin()?