Hi,
Take a look at the <viewpoint>.rotate command in the documentation. There is an optional paramter called
mask which specifies whether to rotate the head or body orientation. By default it is set to the head orientation, so you shouldn't need to change anything. Here's an example anyway:
Code:
view = viz.get(viz.MAIN_VIEWPOINT)
#Rotate the head orientation 90 degrees to the right
view.rotate(0,1,0,90)
#Rotate the body orientation 90 degrees to the left (which will rotate the head also, since it is attached to the body)
view.rotate(0,1,0,-90,viz.BODY_ORI)