[ODE] How to shift the center of mass of a Geom using Transform Object - Some questions

[PKS123]

I know that this is a hackneyed question and there are posts which give the
answers, but none of them give the answer to my satisfaction. So, i'll ask
again.

My question is how do I lower the center of mass of a ODE Body. The answer
that I know of is, "by using the ODE transform object". But I have some
further questions about it.

1. The Transform object claims to change the point of reference of a body.
Do point of reference and center of mass mean the same thing in ODE?

2. Is there any example anywhere of how to use the Transform Object. Its not
there in any of the ODE demos.

3. Will the transform object inherit all the geometrical properties (sides
in case of a box) and behave exactly the same was as a (box) geom would
have, or is there an unsaid difference of behavior somewhere.

Thanks and Regards
PKS123
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