diff --git a/hello_helpers/src/hello_helpers/hello_misc.py b/hello_helpers/src/hello_helpers/hello_misc.py
index b60ca3c..bbbf7fd 100644
--- a/hello_helpers/src/hello_helpers/hello_misc.py
+++ b/hello_helpers/src/hello_helpers/hello_misc.py
@@ -182,12 +182,13 @@ class HelloNode:
         assert(self._point_cloud is not None)
         return self._point_cloud
 
-    def get_joint_state(self, joint_name):
+    def get_joint_state(self, joint_name, moving_threshold=0.001):
         i = self._joint_states.name.index(joint_name)
         joint_position = self._joint_states.position[i]
         joint_velocity = self._joint_states.velocity[i]
         joint_effort = self._joint_states.effort[i]
-        return (joint_position, joint_velocity, joint_effort)
+        joint_is_moving = abs(joint_velocity) > moving_threshold
+        return (joint_position, joint_velocity, joint_effort, joint_is_moving)
 
     def get_tool(self):
         assert(self._tool is not None)