objectHandle: handle of the object. Combine with sim.handleflag_wxyzquat to retrieve the quaternion as (w,x,y,z) order instead of (x,y,z,w) order. Can also 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 quaternion relative to the joint's moving frame will be returned (unless objectHandle is combined with sim.handleflag_reljointbaseframe, in which case the quaternion relative to the joint's base frame will be returned).
quaternion: the quaternion