Get information from a manipulator

[scut_whg]

How to get information about the position, speed and acceleration of each joint of the robot arm? And how do you know how many state spaces a track consists of?

[coppelia]

What do you mean with track?
You can gather the position (i.e. angular or linear position) information about joints via sim.getJointPosition. If you do that in each simulation step, and if you know the current simulation time step (sim.getSimulationTimeStep), you can compute the velocity and acceleration.

Cheers