Regular API function

simGetObjectOrientation / sim.getObjectOrientation

Description Retrieves the orientation (Euler angles) of an object. See also the other matrix/transformation functions.
C synopsis simInt simGetObjectOrientation(simInt objectHandle,simInt relativeToObjectHandle,simFloat* eulerAngles)
C parameters
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 -1 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)
C return value
-1 if operation was not successful
Lua synopsis table[3] eulerAngles=sim.getObjectOrientation(int objectHandle,int relativeToObjectHandle)
Lua parameters
Similar to the C-function counterpart
Lua return values
eulerAngles: table of 3 values (Euler angles)
Remote API equiv.
B0-based remote API: simxGetObjectOrientation
Legacy remote API: simxGetObjectOrientation