simSetObjectPose

Sets the pose of an object. Dynamically simulated objects, together with their hierarchy tree, are dynamically reset (this however does not apply to static shapes)

C++ synopsis

int simSetObjectPose(int objectHandle, int relativeToObjectHandle, const double* pose)

Arguments

• objectHandle: handle of the object. Combine with sim.handleflag_wxyzquat to provide the quaternion as [qw qx qy qz] order instead of [qx qy qz qw] order. Can also be combined with sim.handleflag_reljointbaseframe
• relativeToObjectHandle: indicates relative to which reference frame the pose is specified. Specify sim.handle_world to set the absolute pose, sim.handle_inverse to set the inverse of the absolute pose, sim.handle_parent to set the pose relative to the object's parent, or an object handle relative to whose reference frame the pose is specified. If this handle is the handle of a joint, then the pose is applied relative to the joint's moving frame (unless objectHandle is combined with sim.handleflag_reljointbaseframe, in which case the pose is applied relative to the joint's base frame)
• pose: the pose (array of 7 values [x y z qx qy qz qw])

Return

• -1 if operation was not successful