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If you're referring to the Cartesian Paths section of that page: the plan result variable that you get from your invocation of move_group.compute_cartesian_path(..) contains all of the information about the joint poses that make up the Cartesian motion.

You should be able to print(..) it, iterate over it, etc.

I'm currently working with OMPL and waypoints.

Please note that OMPL (or any of the planners actually) is not used when you use compute_cartesian_path(..). It's essentially performing a linear interpolation between your waypoints. That is rather different from the "random search" that OMPL does.