Which frame does GetRelativeLinearVel() return the velocity in?

I suppose that the returned velocity is in the body frame attached to the link, correct me if I am wrong please.

Also; functions SetLinVel() or SetLinAng() set their respective values in which frame?

Thanks

Asked by jelavice on 2017-10-03 03:04:21 UTC

yes they should all be in the link frame.

Asked by iche033 on 2017-10-03 16:17:54 UTC