Returns the desired angular positions that are sent to all the joints at each time step

The angular target positions are expressed in radians and returned as a vector of length 6. Note that the output might differ from the output of get_actual_joint_positions(), especially during acceleration and heavy loads.

Return Value

The current target joint angular position vector in rad: [Base, Shoulder, Elbow, Wrist1, Wrist2, Wrist3]