Reference coordinate system of the get_angular_velocity() method

[adq-24]

Hello everyone,
I have a question about the methods get_velocity() and get_angular_velocity() of a carla.Vehicle. Are the calculated velocities related to the global coordinate system of CARLA or to the local coordinate system of the vehicle? Unfortunately, I could not find any information on this in the documentation.

Many thanks in advance.

[tqlblzj]

I have the same problem and i find the set_angular_velocity useless, do you have any progress? Can you use set_angular_velocity and set_velocity() properly?

[Ratarang]

It is explained in carla.Rotation: "Class that represents a 3D rotation and therefore, an orientation in space. CARLA uses the Unreal Engine coordinates system. This is a Z-up left-handed system."