The gym.acquire_net_contact_force_tensor(self.sim) is in global frame?

I know gym.acquire_net_contact_force_tensor(self.sim) can get the x,y,z axis contact forces of the rigid bodies. But the x,y,z means the global frame coordinate?

Let me show an example:
There is an franka actor in the env. I want to judge if it has successfully grasp and pick up the cube by measuring the contact force of the x,y axis contact force.
But I down know if the x,y axis is in grasper frame or global frame when I use gym.acquire_net_contact_force_tensor(self.sim) to get them. Please give me some help !