jointHandles: handles of the joints to actuate
currentVel: the current velocity of the joints. Can be nil in which case a velocity vector of 0 is used.
currentAccel: the current acceleration of the joints. Can be nil in which case an acceleration vector of 0 is used.
maxVel: the maximum allowed velocity of the joints
maxAccel: the maximum allowed acceleration of the joints
maxJerk: the maximum allowed jerk of the joints
targetPos: the desired target positions of the joints
targetVel: the desired velocity of the joints at the target. Can be nil in which case a velocity vector of 0 is used.
direction: the desired rotation direction for cyclic revolute joints: 0 for the shortest distance, -x for a movement towards negative values, +x for a movement towards positive values (n=(x-1) represents the number of additional turns). Can be nil or omitted, in which case a value of 0 is used for all joints.