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How to get the Acceleration of a Joint

Hi folks,

I have a robotic arm in Gazebo from which I am already reading the angles (i.e. GetAngle(0).Radian()) as well as the velocity (i.e. GetVelocity(0)) from each joint. Now I also need to get the acceleration from the joints.

So far I haven't come across a way to achieve this. Do you have any ideas?

Cheers, Dennis