How can I get all joints XYZ coordinates in ARKit 3 motion capture with swift

I am trying to write to get all joint XYZ coordinates in ARKit 3 motion capture to get the XYZ to find all angles of body. but I can't find the XYZ coordinates so I can't do the next step.

I am trying to use

character!.jointTransforms

This is my code :

import UIKit
import RealityKit
import ARKit
import Combine

class ViewController: UIViewController, ARSessionDelegate {

  @IBOutlet var arView: ARView!

  var character: BodyTrackedEntity?
  let characterOffset: SIMD3 = [0.0, 0, 0]
  let characterAnchor = AnchorEntity()

  override func viewDidAppear(_ animated: Bool) {
  super.viewDidAppear(animated)
  arView.session.delegate = self

  guard ARBodyTrackingConfiguration.isSupported else {
  fatalError("This feature is only supported on devices with an A12 chip")
  }

  let configuration = ARBodyTrackingConfiguration()
  arView.session.run(configuration)

  arView.scene.addAnchor(characterAnchor)

  // Asynchronously load the 3D character.
  var cancellable: AnyCancellable? = nil
  cancellable = Entity.loadBodyTrackedAsync(named: "character/robot").sink(
  receiveCompletion: { completion in
  if case let .failure(error) = completion {
  print("Error: Unable to load model: \(error.localizedDescription)")
  }
  cancellable?.cancel()
  }, receiveValue: { (character: Entity) in
  if let character = character as? BodyTrackedEntity {
  // Scale the character to human size
  character.scale = [1.0, 1.0, 1.0]
  self.character = character
  cancellable?.cancel()
  } else {
  print("Error: Unable to load model as BodyTrackedEntity")
  }
  })
  }

  func session(_ session: ARSession, didUpdate anchors: [ARAnchor]) {
  for anchor in anchors {
  guard let bodyAnchor = anchor as? ARBodyAnchor else { continue }

  let bodyPosition = simd_make_float3(bodyAnchor.transform.columns.3)
  characterAnchor.position = bodyPosition + characterOffset
  characterAnchor.orientation = Transform(matrix: bodyAnchor.transform).rotation

  if let character = character, character.parent == nil {
  characterAnchor.addChild(character)
  }

  let XYZArray = character!.jointTransforms.map({ (transform: RealityKit.Transform) -> SIMD3 in
  transform.translation
  })

  print(XYZArray)
  }
  }
}

The code is reference by :

https://developer.apple.com/documentation/arkit/capturing_body_motion_in_3d