Coordinate representation

[MaximilianDio]

Hi there,

I am trying to figure out what coordinate frame is used to represent the kinematic and dynamic quantities.
For a freeflyer joint, I would like to have all quantities represented in the inertial (universe) coordinate frame.
But from what I see, all quantities are expressed in the local (body) frame. Can I compute them w.r.t to the universe frame, or do I need to transform them afterwards?

Regards
Max