Returns the target waypoint of the active move

This is different from the get_target_tcp_pose() which returns the target pose for each time step. The get_target_waypoint() returns the same target pose for movel, movej, movep or movec during the motion. It returns the same as get_target_tcp_pose(), if none of the mentioned move functions are running.

This method is useful for calculating relative movements where the previous move command uses blends.

Return Value

The desired waypoint TCP vector [X, Y, Z, Rx, Ry, Rz]