according to the documentation, sim.getObjectOrientation applied to a joint "returns the orientation relative to the joint's moving frame". However, if I invoke this function on a joint before/after changing the joint position (angle) it returns the same result. So it seems the function returns the orientation relative to the joint's base frame by default.
Code: Select all
> sim.getJointPosition(79)
0.000155210495
> sim.getObjectOrientation(79, sim.handle_world)
{-4.565654308e-05, 0.0006102334009, -4.285298928e-05}
> sim.setJointPosition(79, 1.5)
> sim.getJointPosition(79)
1.5
> sim.getObjectOrientation(79, sim.handle_world)
{-4.565654308e-05, 0.0006102334009, -4.285298928e-05}
Code: Select all
> sim.getObjectOrientation(79+sim.handleflag_reljointbaseframe, sim.handle_world)
{-4.565654308e-05, 0.0006102334009, -4.285298928e-05}