## Get information from a manipulator

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scut_whg
Posts: 11
Joined: 21 Oct 2019, 08:24

### Get information from a manipulator

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
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.