What is the frame of ArticulationView.get_linear_velocity?

Hello,

I’m using this function inside my code:
https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.core/docs/index.html#omni.isaac.core.articulations.ArticulationView.get_linear_velocities

But the doc doesn’t say in which frame the velocities are computed.
Could some say if the velocity is given in the robot frame, the global frame or the parent frame?

I would look for it my self, but I’m not certain where to find this class/function (I assume this is compiled cuda/c++ code):

physics_sim_view = omni.physics.tensors.create_simulation_view(self._backend)
self._physics_view = physics_sim_view.create_articulation_view(...)
self._physics_view.get_root_velocities()

Cheers,

Antoine

Hi @ARi_31 - Someone from our team will take a look at your question and respond back.