get_actual_joint_positions_history(steps=0)

Returns the actual past angular positions of all joints

This function returns the angular positions as reported by the function "get_actual_joint_positions()" which indicates the number of controller time steps occurring before the current time step.

An exception is thrown if indexing goes beyond the buffer size.

Parameters

steps: The number of controller time steps required to go back. 0 corresponds to "get_actual_joint_positions()"

Return Value

The joint angular position vector in rad : [Base, Shoulder, Elbow, Wrist1, Wrist2, Wrist3] that was actual at the provided number of steps before the current time step.