Hi @Tadinu
You can use the get_rigid_body_linear_velocity and get_rigid_body_angular_velocity methods from DynamicControl… as detailed in the Inspect Physics extension located at /isaac-sim/_build/linux-x86_64/release/exts/omni.isaac.utils/omni/isaac/utils/scripts/physics_inspector.py line 162 for example
Inspect Physics (green cube selected)
