Returns the current measured tool flange pose

Returns the 6d pose representing the tool flange position and orientation specified in the base frame, without the Tool Center Point offset. The calculation of this pose is based on the actual robot encoder readings.

Return Value

The current actual tool flange vector: [X, Y, Z, Rx, Ry, Rz]

Note: See get_actual_tcp_pose for the actual 6d pose including TCP offset.