I am working on a project where a robot interacts with an object. Now I want to get the velocity of the object in the robot’s base frame. I can get its position using FrameTransformer, but as far as I can tell, FrameTransformer does not support the same functionality for velocity. Is the simplest way now to transform the velocity in the robot frame by hand, or is there a similar feature in IsaacLab?
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