diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp
index fa6731bad6a037690954716aa186f9024d818056..36d2d5f391dfb019588e4e48a063550729c1b6f9 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp
@@ -1218,7 +1218,7 @@ Eigen::Vector3f BulletRobot::getLinearMomentumGlobal( VirtualRobot::RobotNodeSet
 	{
 		VirtualRobot::RobotNodePtr node = (*set)[i];
 		BulletObjectPtr bo = boost::dynamic_pointer_cast<BulletObject>(getDynamicsRobotNode(node));
-		Eigen::Vector3f vel = bo->getLinearVelocity();
+		Eigen::Vector3f vel = bo->getLinearVelocity()/1000.0;
 
 		linMomentum += node->getMass() * vel;
 	}
@@ -1234,9 +1234,9 @@ Eigen::Vector3f BulletRobot::getAngularMomentumGlobal( VirtualRobot::RobotNodeSe
 	{
 		VirtualRobot::RobotNodePtr node = (*set)[i];
 		BulletObjectPtr bo = boost::dynamic_pointer_cast<BulletObject>(getDynamicsRobotNode(node));
-		Eigen::Vector3f vel = bo->getLinearVelocity();
-		Eigen::Vector3f ang = bo->getAngularVelocity();
-		Eigen::Vector3f com = bo->getComGlobal().block(0, 3, 3, 1);
+		Eigen::Vector3f vel = bo->getLinearVelocity() / 1000.0;
+		Eigen::Vector3f ang = bo->getAngularVelocity() / 1000.0;
+		Eigen::Vector3f com = bo->getComGlobal().block(0, 3, 3, 1) / 1000.0;
 		double mass = node->getMass();
 
 		boost::shared_ptr<btRigidBody> body = bo->getRigidBody();
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.h b/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.h
index 1c439b188df165087dc0bcd8ffbdb1ce60c5b2b7..0d69bfb6db5b1e007407ee08fdf1f0774e34a3a7 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.h
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.h
@@ -151,7 +151,15 @@ public:
     virtual Eigen::Matrix4f getComGlobal(VirtualRobot::RobotNodePtr rn);
 	Eigen::Vector3f getComGlobal(VirtualRobot::RobotNodeSetPtr set);
 	Eigen::Vector3f getComVelocityGlobal(VirtualRobot::RobotNodeSetPtr set);
+
+    /*!
+     * Returns the linear momentum in Ns for the bodies in the nodeset.
+     */
 	Eigen::Vector3f getLinearMomentumGlobal(VirtualRobot::RobotNodeSetPtr set);
+
+    /*!
+     * Returns the angular momentum in Nms for the bodies in the nodeset
+     */
 	Eigen::Vector3f getAngularMomentumGlobal(VirtualRobot::RobotNodeSetPtr set);
 
 	// experimental...