def METHOD_NAME(self, include_gripper: bool = False) -> list[Joint]:
    if self.simulator:
        return self._joint_values
    joints = self._dobot.get_pose().joints.in_radians()
    return [
        Joint(Joints.J1, joints.j1),
        Joint(Joints.J2, joints.j2),
        Joint(Joints.J3, joints.j3 - joints.j2),
        Joint(Joints.J4, -joints.j3),
        Joint(Joints.J5, joints.j4),
    ]