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objectHandle: handle of the object. Can be combined with sim.handleflag_reljointbaseframe (see next argument)
relativeToObjectHandle: indicates relative to which reference frame we want the pose. Specify sim.handle_world to retrieve the absolute pose, sim.handle_inverse to retrieve the inverse of the absolute pose, sim.handle_parent to retrieve the pose relative to the object's parent, or an object handle relative to whose reference frame we want the pose. If this handle is the handle of a joint, then the pose relative to the joint's moving frame will be returned (unless objectHandle is combined with sim.handleflag_reljointbaseframe, in which case the pose relative to the joint's base frame will be returned).
pose: pointer to 7 values
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