⚙ Development Guide > SDK > API > Data Structures

ArmState

The robotic arm state-feedback data structures consist of two types: joint state (ArmJointState) and motor state (ArmMotorState). They are defined as follows:

class ArmJointState:
    angles: tuple[float, ...]
    velocities: tuple[float, ...]
    efforts: tuple[float, ...]

class ArmMotorState:
    motor_temperatures: tuple[float, ...]
    mos_temperatures: tuple[float, ...]
    error_ids: tuple[int, ...]

Class	Field	Description	Unit
ArmJointState	angles	Current joint positions	rad
	velocities	Current joint velocities	rad/s
	efforts	Current joint currents	A
ArmMotorState	motor_temperatures	Motor temperatures	°C
	mos_temperatures	MOSFET temperatures (supported only by motors 4–6)	°C
	error_ids	Status codes/error codes