function out = DisplayPos(obj)
    pos = getJointAndFingerPos(obj);
    out = ['End Effector Position - X: ' sprintf('%.2f', obj.EndEffectorPose(1)) ...
      ', Y: ' sprintf('%.2f', obj.EndEffectorPose(2)) ...
      ', Z: ' sprintf('%.2f', obj.EndEffectorPose(3)) ...
      '. Twist Angle (in radians): ' sprintf('%.2f', pos(7)) ...
      ', Finger 1 Strength: ' sprintf('%.2f', pos(8)) ...
      ', Finger 2 Strength: ' sprintf('%.2f', pos(9)) ...
      ', Finger 3 Strength: ' sprintf('%.2f', pos(10)) '.'];
end