humotion

        requested_neck_state = requested_gaze_state;

    }

    //get targets: this is the sum of stored neck target and up-to-date offset:

    float neck_pan_target  = requested_neck_state.pan  + requested_gaze_state.pan_offset;

    float neck_tilt_target = requested_neck_state.tilt + requested_gaze_state.tilt_offset;