How do I get rigidbody global rotation?

When using acquire_rigid_body_state_tensor() to get the position and rotation of a rigid body, is the position and rotation returned in global coordinate or local coordinate to its parent transform?
I have tried to visualize the rigid body with the returned position and rotation as global rotation, but it is incorrect. Is there a method I can get the global rotation?

Will the API document has any update about the detailed description of the position, rotation in the future?