I have an inquiry regarding the frame of gymapi.acquire_actor_root_state_tensor in Isaac Gym. I have a clear understanding that the position and linear velocity are relative to the world/global frame, but I’m seeking clarification on the frame of reference for angular velocity.
In Mujoco, it has been noted that the angular velocity of the free joint is expressed in the local frame (Clarification - Coordinate frame of generalized forces, velocities and accelerations of free joints · Issue #691 · google-deepmind/mujoco · GitHub). I am curious to know if a similar convention is applied in Isaac Gym. Any insights or information on this matter would be greatly appreciated.
Thank you in advance for your assistance.