diff --git a/lwrserv/SvrData.cpp b/lwrserv/SvrData.cpp
index fbb1009..8dbd30c 100644
--- a/lwrserv/SvrData.cpp
+++ b/lwrserv/SvrData.cpp
@@ -9,17 +9,18 @@ SvrData* SvrData::single = 0;
 
 SvrData::SvrData(void)
 {
-    velocity = 20;
-    accelaration = 10;
-    robot.joints = LBR_MNJ;
 
+    // these are the default values for the robot 
     double maxVelJnt[] = {110.0,110.0,128.0,128.0,204.0,184.0,184.0};
     double maxAccJnt[] = {1.0,1.0,1.0,1.0,2.0,1.0,1.0};
     double maxTrqJnt[] = {176.0,176.0,100.0,100.0,100.0,38.0,38.0};
     double maxRangeJnt[] = {170.0,120.0,170.0,120.0,170.0,120.0,170.0};
 
+    robot.currentVelocity = 20;
+    robot.currentAcceleration = 10;
+    robot.joints = LBR_MNJ;
 
-    for (int i = 0; i < robot.joints; ++i)
+    for (unsigned int i = 0; i < robot.joints; ++i)
     {
         robot.max.velocity[i] = maxVelJnt[i];
         robot.max.accelaration[i] = maxAccJnt[i];
@@ -71,6 +72,15 @@ int SvrData::getMessuredJointPos(float* data, size_t size)
     return 0;
 }
 
+Vec<float,LBR_MNJ> SvrData::getMessuredJointPos()
+{
+    Vec<float,LBR_MNJ> buf ;
+    pthread_mutex_lock(&dataLock);
+    buf = messured.jointPos;
+    pthread_mutex_unlock(&dataLock);
+    return buf;
+}
+
 int SvrData::getMessuredCartPos (float* data, size_t size)
 {
     if (data == NULL)
@@ -84,6 +94,15 @@ int SvrData::getMessuredCartPos (float* data, size_t size)
     return 0 ;
 }
 
+Mat<float,LBR_MNJ> SvrData::getMessuredCartPos()
+{
+    Mat<float,LBR_MNJ> buf ;
+    pthread_mutex_lock(&dataLock);
+    buf = messured.cartPos;
+    pthread_mutex_unlock(&dataLock);
+    return buf;
+}
+
 int SvrData::getMessuredJacobian(float* data, size_t size)
 {
     if (data == NULL)
@@ -123,7 +142,14 @@ int SvrData::getCommandedJointPos(float* data, size_t size)
     
     return 0;
 }
-
+Vec<float, LBR_MNJ> SvrData::getCommandedJointPos()
+{
+    Vec<float, LBR_MNJ> buff;
+    pthread_mutex_lock(&dataLock);
+    buff = commanded.jointPos;
+    pthread_mutex_unlock(&dataLock);
+    return buff;
+}
 int SvrData::getCommandedCartPos (float* data, size_t size)
 {
     if (data == NULL)
@@ -137,6 +163,14 @@ int SvrData::getCommandedCartPos (float* data, size_t size)
 
     return 0;
 }
+Mat<float, LBR_MNJ> SvrData::getCommandedCartPos ()
+{
+    Mat<float, LBR_MNJ> buff;
+    pthread_mutex_lock(&dataLock);
+    buff = commanded.cartPos;
+    pthread_mutex_unlock(&dataLock);
+    return buff;
+}
 
 float SvrData::getMaxTorque(unsigned int pos)
 {
@@ -194,6 +228,37 @@ Vec<float,LBR_MNJ>   SvrData::getMaxAcceleration()
     pthread_mutex_unlock(&dataLock);
     return buff;
 }
+float SvrData::getMaxVelocity(unsigned int pos)
+{
+    float retval = -1.0f;
+    if (pos >= robot.joints)
+        return retval;
+
+    pthread_mutex_lock(&dataLock);
+    retval = robot.max.velocity[pos-1];
+    pthread_mutex_unlock(&dataLock);
+    return retval;
+}
+int   SvrData::getMaxVelocity(float* data, size_t size)
+{
+    if (data == NULL)
+        return -EINVAL;
+    if (size != sizeof(float)* robot.joints)
+        return -EINVAL;
+
+    pthread_mutex_lock(&dataLock);
+    memcpy(data,robot.max.velocity,size);
+    pthread_mutex_unlock(&dataLock);
+    return 0;
+}
+Vec<float,LBR_MNJ>   SvrData::getMaxVelocity()
+{   
+    Vec<float,LBR_MNJ> buff;
+    pthread_mutex_lock(&dataLock);
+    buff = robot.max.velocity;
+    pthread_mutex_unlock(&dataLock);
+    return buff;
+}
 
 float SvrData::getMaxRange(unsigned int pos)
 {
@@ -219,7 +284,51 @@ int   SvrData::getMaxRange(float* data, size_t size)
     pthread_mutex_unlock(&dataLock);
     return 0;
 }
+Vec<float, LBR_MNJ> SvrData::getMaxRange()
+{
+    Vec<float, LBR_MNJ> retval ;
+    pthread_mutex_lock(&dataLock);
+    retval = robot.max.range;
+    pthread_mutex_unlock(&dataLock);
+    return 0;
+}
+
+int SvrData::setRobotVelocity(float newVelocity)
+{
+    unsigned int retval = 0;
 
+    pthread_mutex_lock(&dataLock);
+    robot.currentVelocity = newVelocity;
+    pthread_mutex_unlock(&dataLock);
+    return retval;
+}
+float SvrData::getRobotVelocity()
+{
+    float retval = 0;
+
+    pthread_mutex_lock(&dataLock);
+    retval = robot.currentVelocity;
+    pthread_mutex_unlock(&dataLock);
+    return retval;
+}
+int SvrData::setRobotAcceleration(float newAcceleration)
+{
+    unsigned int retval = 0;
+
+    pthread_mutex_lock(&dataLock);
+    robot.currentAcceleration = newAcceleration;
+    pthread_mutex_unlock(&dataLock);
+    return retval;
+}
+float SvrData::getRobotAcceleration()
+{
+    float retval = 0;
+
+    pthread_mutex_lock(&dataLock);
+    retval = robot.currentAcceleration;
+    pthread_mutex_unlock(&dataLock);
+    return retval;
+}
 unsigned int SvrData::getJoints()
 {
     unsigned int retval = 0;
diff --git a/lwrserv/include/SvrData.h b/lwrserv/include/SvrData.h
index f1c9f91..40115e1 100644
--- a/lwrserv/include/SvrData.h
+++ b/lwrserv/include/SvrData.h
@@ -25,9 +25,6 @@ private:
         float pose[3][4]; //TODO what is this for
     } commanded;
     
-    float velocity;
-    float accelaration;
-
     struct {
         struct {
             float velocity[LBR_MNJ];
@@ -36,6 +33,8 @@ private:
             float range[LBR_MNJ];
         } max;
         unsigned int joints;
+        float currentVelocity;
+        float currentAcceleration;
     } robot;
 
     pthread_mutex_t dataLock;
@@ -54,12 +53,21 @@ public:
     void unlock();
 
     int getMessuredJointPos(float* data, size_t size);
+    Vec<float,LBR_MNJ> getMessuredJointPos();
+
     int getMessuredCartPos (float* data, size_t size);
+    Mat<float,LBR_MNJ> getMessuredCartPos();
+
     int getMessuredJacobian(float* data, size_t size);
+
     int getMessuredForceTorque(float* data, size_t size);
+    Vec<float,LBR_MNJ> getMessuredForceTorque();
 
     int getCommandedJointPos(float* data, size_t size);
+    Vec<float,LBR_MNJ> getCommandedJointPos();
+
     int getCommandedCartPos (float* data, size_t size);
+    Mat<float,LBR_MNJ> getCommandedCartPos();
 
     float getMaxTorque(unsigned int pos);
     int   getMaxTorque(float* data, size_t size);
@@ -77,12 +85,12 @@ public:
     int   getMaxRange(float* data, size_t size);
     Vec<float,LBR_MNJ> getMaxRange();
 
-    unsigned int getJoints();
+    float getRobotVelocity();
+    int   setRobotVelocity(float newVelocity);
 
-    float getTrajectoryVelocity();
-    int   setTrajectoryVelocity(float);
+    float getRobotAcceleration();
+    int   setRobotAcceleration(float newVelocity);
 
-    float getTrajectoryAccelaration();
-    float setTrajectoryAccelaration(float);
+    unsigned int getJoints();
 };
 #endif