We are trying to create a global action which is dynamic (as it can be added for any sObject).
However we need to fetch the current recordId from the detail page of the sObject's record into our VisualForce page(which is called from global action). We can't use a standard controller in VF page to fetch the Id as the action can be fired from any sObject.

The URL we see for record detail page in Lightning Experience window is - 
https://trekbindev-dev-ed.lightning.force.com/one/one.app?source=aloha#/sObject/001B0000004XwqlIAC/view?t=1441350807320

The javascript's methods for fetching URL doesn't seem to give the recordId in Lightning view either, as the page is opening in iFrame, screenshot
is added below:


However, this function was achieved via button to add ID parameter in page for SF Classic UI, it is as follows.



How can we accomplish this in Lightning Experience?

Thanks in advance!