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Regular API function
simSetObjectPose / sim.setObjectPose
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Description
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Sets the pose of an object. Dynamically simulated objects, together with their hierarchy tree, will be dynamically reset (this however does not apply to static shapes). See also sim.getObjectPose and the section about positions, orientations and transformations |
C/C++
synopsis
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simInt simSetObjectPose(simInt objectHandle,simInt relativeToObjectHandle,const simFloat* pose) |
C/C++
parameters |
objectHandle: handle of the object. Can be combined with sim.handleflag_reljointbaseframe (see next argument)
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: pointer to 7 values
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C/C++
return value
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-1 if operation was not successful
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Lua
synopsis
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sim.setObjectPose(int objectHandle,int relativeToObjectHandle,float[7] pose) |
Lua
parameters |
Similar to the C-function counterpart
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Lua
return values
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Python
synopsis |
sim.setObjectPose(int objectHandle,int relativeToObjectHandle,list pose) |
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