movable_object actor definition of velocity unclear

We struggle with the definition of the velocity :

The velocity is defined as: "Translational and rotational velocity measured in object coordinates with world system as reference." https://www.asam.net/static_downloads/public/asam-openscenario/2.0.0/domain-model/entity.html#sec-trafficparticipant-entity-movable_object

Shall we measure the vector in the world system frame (option 1) or in the object frame (option2)?

Here a better description is definitely needed.