diff --git a/source/RobotAPI/units/KinematicUnitSimulation.cpp b/source/RobotAPI/units/KinematicUnitSimulation.cpp
index 6f4af469d18319f503b48c4ba6d938bcfddf9d42..f7c0eabf15bf6c11dac0c6ce09bbc6625023e5f3 100644
--- a/source/RobotAPI/units/KinematicUnitSimulation.cpp
+++ b/source/RobotAPI/units/KinematicUnitSimulation.cpp
@@ -206,6 +206,7 @@ void KinematicUnitSimulation::setJointAngles(const NameValueMap& targetJointAngl
                 targetJointAngle = std::min<float>(targetJointAngle, jointInfos[targetJointName].limitHi);
             }
             iterJoints->second.angle = targetJointAngle;
+            actualJointAngles[targetJointName] = iterJoints->second.angle;
         }
         else
             ARMARX_WARNING << "Joint not found!";