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Some issues about Haptix project

I am very interested in Haptix project, when I using this project, I met some problems. 1) How to get the position (x,y,z coordinates) of the arm and the cube with some programming languages, maybe C language ? I have searched related information, I guess I can implement this by using _hxsModel struct, but I do not know how to connect the arm and cube with this struct. 2) How to control the whole arm with C API ? As introduced in C API, I can use C language to control the arm, but I can only control the motors. However, wiith keyboard, I can control the whole arm by pressing 'W' 'S' 'A' 'D'. Can I write C codes to implement this kind of control ?