Regular API function

simGetObjectChildPose / sim.getObjectChildPose

Description Retrieves the intrinsic or internal transformation of an object. For a joint, this is the transformation caused by the joint movement, mainly. For joints and force sensors, this will also include a possible error transformation caused by the physics engine (a physics engine can cause joints and force sensors to come apart, when constraints can't be perfectly resolved). See also sim.setObjectChildPose.
C/C++
synopsis
simInt simGetObjectChildPose(simInt objectHandle,simFloat* pose)
C/C++
parameters
objectHandle: handle of the object
pose: pointer to the pose (x,y,z,qx,qy,qz,qw)
C/C++
return value
-1 if operation was not successful
Lua synopsis float[7] pose=sim.getObjectChildPose(int objectHandle)
Lua parameters
objectHandle: handle of the joint
Lua return values
pose: the pose (x,y,z,qx,qy,qz)
Python synopsis list pose=sim.getObjectChildPose(int objectHandle)