Velocities from acquire_rigid_body_state_tensor: Local or Global?

Robotics & Edge Computing Robotics - Isaac Isaac Gym
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I have a question about the acquire_rigid_body_state_tensor function:

I’m curious about the reference frame for the linear and angular velocities obtained from this function. Specifically, are these velocities in the global coordinate system or in the local coordinate system of the rigid body?

Understanding this is crucial for my simulation’s accuracy. Any clarification would be greatly appreciated.

Thank you for your help!

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Hey, the linear and angular velocities appear to be expressed in the world / environment frame of reference.

Best,
Mihir

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I cannot thank you enough for your response. Your assistance is truly invaluable, and I am profoundly grateful. May you be blessed with extraordinary success in all your pursuits.

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