Resolved. Thank you thank you thank you @anton_s said: tecnozati, Yeah, the docs do not have enough coding examples. But I intended to fix that someday. To get the position of a servo joint from a script field, you will first need to know the name/id of the joint, which is displayed in UI when you select the joint. Then you can write the following code: > onStart { > @j = simulation.find_joint_by_name("569422") > } > > onTick { > # Set desired angle > if (key(' ') == 1) > @j.controller = 100.degrees > else > @j.controller = 0 > end > > # Get current angle > simulation.log_line @j.cur_angle.radians > } > You can refer to servo docs for more functionality: https://www.rubydoc.info/github/AntonSynytsia/MSPhysics/MSPhysics/Servo Anton