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 -1 to set 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 (x,y,z,qx,qy,qz,qw)