Summary
Create the supplement function get_target_tool_flange_pose() similar to get_actual_tool_flange_pose()
What is it?
The function get_target_tool_flange_pose() will return the position of the tool flange in [x,y,z,rx,ry,rz] format. The function get_target_tool_flange_pose(var_pos) will take in the argument var_pos. var_pos will be of the format p[x,y,z,rx,ry,rz].
Why is it needed?
The existing function get_actual_tool_flange_pose() can only find the current position. The location of the tool flange is used to predict and avoid collisions between the wrist and the environment.