function Vlinear = BodyVelToLinearVel(V,G)
% *** CHAPTER x: DYNAMICS OF OPEN CHAINS ***
% Takes V: Body frame velocity,
% G: Spactial frame G
% Returns Glist: Spatial inertia matrices Gi of the links
[R, p] = TransToRp(G);
Vlinear = R*V(4:6);