diff --git a/ateam_kenobi/src/core/defense_area_enforcement.cpp b/ateam_kenobi/src/core/defense_area_enforcement.cpp
index e1830acf..6fc8f2e7 100644
--- a/ateam_kenobi/src/core/defense_area_enforcement.cpp
+++ b/ateam_kenobi/src/core/defense_area_enforcement.cpp
@@ -21,6 +21,7 @@
 #include "defense_area_enforcement.hpp"
 #include <ateam_geometry/ateam_geometry.hpp>
 #include <ateam_common/robot_constants.hpp>
+#include "core/motion/frame_conversions.hpp"
 
 namespace ateam_kenobi::defense_area_enforcement
 {
@@ -71,9 +72,11 @@ bool WouldVelocityCauseCollision(
 
   const double delta_t = 0.01;
 
-  // TODO(barulicm): This ignores the velocity frame
-  const ateam_geometry::Vector velocity{motion_command.twist.linear.x,
+  ateam_geometry::Vector velocity{motion_command.twist.linear.x,
     motion_command.twist.linear.y};
+  if (motion_command.twist_frame == ateam_msgs::msg::RobotMotionCommand::FRAME_BODY) {
+    velocity = ateam_kenobi::motion::LocalToWorldFrame(velocity, world.our_robots[robot_id]);
+  }
 
   const ateam_geometry::Vector displacement = velocity * delta_t;
 
diff --git a/ateam_kenobi/src/core/motion/motion_executor.cpp b/ateam_kenobi/src/core/motion/motion_executor.cpp
index 79bfccd0..28792066 100644
--- a/ateam_kenobi/src/core/motion/motion_executor.cpp
+++ b/ateam_kenobi/src/core/motion/motion_executor.cpp
@@ -69,6 +69,9 @@ std::array<std::optional<BodyVelocity>,
         },
         [&](const intents::linear::VelocityIntent & v) {
           body_velocity.linear = v.velocity;
+          if (v.frame == intents::linear::Frame::World) {
+            body_velocity.linear = WorldToLocalFrame(v.velocity, robot);
+          }
           use_controller_linvel = false;
           controller.reset_trajectory({robot.pos});
         },