**objectHandle**: handle of a

scene object. It is highly recommended to add

*sim.handleflag_axis* to the object handle, in order to obtain the

*regular* angular velocity for the object, i.e. the rotation axis and the rotation velocity that is represented by the axis' length. If

*sim.handleflag_axis* is omitted, then a derivative of Euler angles expressed relative to previous' simulation frame will be returned for the angular velocity.