Robot - rotating child object with parent

I am trying to write a controller script that rotates each joint of a robot to a target position over one axis. The robot I'm using is coming from this Github page: https://github.com/qian256/ur5_unity. It currently uses slider values to rotate the joint instantly around z axis. This works fine.:

The controller script uses this to rotate the axis:

Code (CSharp):

1. void LateUpdate () {
2.         for ( int i = 0; i < 6; i ++) {
3.             Vector3 currentRotation = jointList[i].transform.localEulerAngles;
4.             Debug.Log(currentRotation);
5.             currentRotation.z = jointValues[i];
6.             jointList[i].transform.localEulerAngles = currentRotation;
7.         }
8.     }

The hierarchy looks like this:
https://imgur.com/a/54t4czH?third_party=1#_=_

Now I'm trying to write a controller script that takes in a float target z value and rotates the z axis towards this target position at a certain speed. I used this code:

Code (CSharp):

1.        joint0.rotation = Quaternion.RotateTowards(joint0.rotation, Quaternion.Euler(0, 0, joint0TargetRotation), rotSpeed * Time.deltaTime);
2.         joint1.rotation = Quaternion.RotateTowards(joint1.rotation, Quaternion.Euler(0,0, joint1TargetRotation), rotSpeed * Time.deltaTime);
3.         joint2.rotation = Quaternion.RotateTowards(joint2.rotation, Quaternion.Euler(0,0, joint2TargetRotation), rotSpeed * Time.deltaTime);
4.         joint3.rotation = Quaternion.RotateTowards(joint3.rotation, Quaternion.Euler(0,0, joint3TargetRotation), rotSpeed * Time.deltaTime);
5.         joint4.rotation = Quaternion.RotateTowards(joint4.rotation, Quaternion.Euler(0,0, joint4TargetRotation), rotSpeed * Time.deltaTime);
6.         joint5.rotation = Quaternion.RotateTowards(joint5.rotation, Quaternion.Euler(0,0, joint5TargetRotation), rotSpeed * Time.deltaTime);

Now the result looks like this:

Any idea what I'm doing wrong? Cheers!

 

At first sight, it looks like the second example is using world-rotations (Transform.rotation), while the first one is using local rotations (Transform.localEulerAngles). You may try using local rotations in the second example (Transform.localRotation).

 

Thank you Edy, that totally fixed the problem! For any noob, like me, the solution was this:

Code (CSharp):

1.  joint0.localRotation = Quaternion.RotateTowards(joint0.localRotation, Quaternion.Euler(0, 90, joint0TargetRotation), rotSpeed * Time.deltaTime);
2.         joint1.localRotation = Quaternion.RotateTowards(joint1.localRotation, Quaternion.Euler(0,0, joint1TargetRotation), rotSpeed * Time.deltaTime);
3.         joint2.localRotation = Quaternion.RotateTowards(joint2.localRotation, Quaternion.Euler(0,0, joint2TargetRotation), rotSpeed * Time.deltaTime);
4.         joint3.localRotation = Quaternion.RotateTowards(joint3.localRotation, Quaternion.Euler(0,0, joint3TargetRotation), rotSpeed * Time.deltaTime);
5.         joint4.localRotation = Quaternion.RotateTowards(joint4.localRotation, Quaternion.Euler(0,90, joint4TargetRotation), rotSpeed * Time.deltaTime);
6.         joint5.localRotation = Quaternion.RotateTowards(joint5.localRotation, Quaternion.Euler(0,0, joint5TargetRotation), rotSpeed * Time.deltaTime);