WorldViz User Forum - Introducing a rotation offset into a link

I am working in a immersive VR simulator, and I am picking up and moving objects around.

Grabbing an object is pretty easy:

Code:

grabLink = viz.link(hand,object,1)

This allows it to follow translation and orientation exactly

I can also modify the link to act in a couple different ways by modifying the link like so:

Creating a 'locked rotations' link (the grabbed object follows the translations of the hand, but it's orientation is locked at [0,0,0] exactly)

Code:

grabLink.setEuler([0,0,0]) #set the yaw, pitch and roll to zero

Create a 'z-pinned' link (the grabbed object follows rotations exactly, but the block is only able to translate in the z-axis)

Code:

yPos = object.getPosition()[1]        #y position of object

xPos = object.getPosition()[0]        #x position of object

grabLink.clampPosY([yPos,yPos],1,viz.LINK_FULL_OP)        #clamp item's vertical motion

grabLink.clampPosX([xPos,xPos],1,viz.LINK_FULL_OP)        #clamp item's lateral motion

Create a 'movement bounded' link (object can't move past the zBound point on the z-axis)
grabLink.clampPosZ([None,zBound],1,viz.LINK_FULL_OP) #clamp item's forward motion

Ok, so all that is working well and good. But now I need to 'offset' the position of the object vs. the hand with a set of offsets

Code:

rotationOffsets = [x,y,z]

Anyone know how to get this done?