Hi,
The viz.rotate command rotates the BODY_ORI by the given amount, relative to its current rotation. If you want to rotate the BODY_ORI with an absolute rotation there are two ways of doing it.
Method 1
Reset the body ori to zero and perform the rotation
Code:
viz.reset(viz.BODY_ORI)
viz.rotate(0,15,0)
Method 2
Get access to the main viewpoint object and call its rotate function which performs the rotation in absolute space.
Code:
view = viz.get(viz.MAIN_VIEWPOINT)
view.rotate(0,15,0,'',viz.BODY_ORI)
Hope this helps