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 orientation. Specify sim.handle_world to retrieve the absolute orientation, sim.handle_parent to retrieve the orientation relative to the object's parent, or an object handle relative to whose reference frame you want the orientation. If this handle is the handle of a joint, then the orientation relative to the joint's moving frame will be returned (unless objectHandle is combined with sim.handleflag_reljointbaseframe, in which case the orientation relative to the joint's base frame will be returned).
eulerAngles: Euler angles (alpha, beta and gamma)