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