Getting link's velocity and acceleration from physics engine in C++

[jeferal]

Hello, thanks for all the examples, they are very useful.

Using C++, I wanted to ask how to retrieve from the simulator's engine a given link's (RigidBody prim) local velocity and acceleration in every physics step of the simulator. I have attempted to query this information via the USD API, but it seems to be updated in every render step instead.

What API should I then be using? I could not find examples that do this.

Thank you!