sim.setObjectQuaternion

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

Synopsis

sim.setObjectQuaternion(int objectHandle, list quaternion, int relativeToObjectHandle = sim.handle_world) sim.setObjectQuaternion(int objectHandle, float[4] quaternion, int relativeToObjectHandle = sim.handle_world)

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
  • quaternion: the quaternion (array of 4 values [qx qy qz qw])
  • relativeToObjectHandle: indicates relative to which reference frame the orientation is specified. Specify sim.handle_world to set the absolute orientation, sim.handle_parent to set the orientation relative to the object's parent, or an object handle relative to whose reference frame the orientation is specified. If this handle is the handle of a joint, then the quaternion is applied relative to the joint's moving frame (unless objectHandle is combined with sim.handleflag_reljointbaseframe, in which case the quaternion is applied relative to the joint's base frame)


See also: