def at_joint_target(current, desired, goal_tolerance):
    """This function can be used to check if the move_group is already at the desired
    joint target.

    Parameters
    ----------
    current : :py:obj:`list`
        The current joint configuration.
    desired : :py:obj:`list`
        The desired joint target.
    goal_tolerance : :py:obj:`float`
        The planner target goal tolerance.

    Returns
    -------
    :py:obj:`bool`
        Bool specifying if move_group is already at the goal target.
    """

    # Round to the goal tolerance
    accuracy = str(goal_tolerance)[::-1].find(".")
    current = [round(item, accuracy) for item in current]
    desired = [round(item, accuracy) for item in desired]

    # Check if move_group is at joint target
    if current == desired:
        return True  # Already at goal
    else:
        return False