Draw a graph

[Leilasjd]

Hi, I have two questions. 1- how I can add a graph to my Coppeliasim environment for the gripper's joint position or joint velocity? Can I just use python for drawing gripper's graphs?

2- in rlbench tasks for example reach target, how does "target.get_pose()" detect the position of the target? by using the information from cameras and vision in the scene or the Cartesian coordinates of the target and other objects in the scene are sent to python by using API and something else?