Is frame of generalized velocity correct?

[matheecs]

Hi all,

I find that OCS2 use global or world frame as generalized velocity's reference, like:

https://github.com/leggedrobotics/ocs2/blob/86f92201fe077285f81c2b531272aadc41d84167/ocs2_pinocchio/ocs2_centroidal_model/src/CentroidalModelRbdConversions.cpp#L110

But, In https://github.com/stack-of-tasks/pinocchio/issues/1357, we need to use local or body frame as generalized velocity's reference. So which is correct? I'd appreciate it if you tell me this point.