How can I retrieve the id of a specific joint / body / link / sensors ?

It depends on the language you use:

• In Matlab, specific functions to get the id exist. They are explained in the Matlab tutorial, in “Tips and tricks” section.
• In Python, id’s are stored in dictionaries in the mbs structure. For more details, see the Python tutorial, in “Tips and tricks” section.
• In C, a specific c-file called “user_all_id.h” is created when generating the c-specific user files. This file defines id’s of all the elements of your MBS system. For more details, see the C tutorial, in “Tips and tricks” section.