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Hi @regoGr

please take a look at this example: https://github.com/ros-planning/moveit_tutorials/blob/master/doc/move_group_python_interface/scripts/move_group_python_interface_tutorial.py

Specifically to get the joint info you can use: move_group.get_current_joint_values()

And you can find more information on the MoveIt classes: http://docs.ros.org/en/jade/api/moveit_commander/html/classmoveit__commander_1_1move__group_1_1MoveGroupCommander.html

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