⚙ Development Guide > SDK > API > Data Structures

CartesianPose

The tool-end pose feedback (CartesianPose) describes the robotic arm tool-end pose in Cartesian space and is defined as follows:

class CartesianPose:
    position: tuple[float, float, float]
    orientation: tuple[float, float, float, float]

Class	Field	Description	Unit
CartesianPose	position	Cartesian-space position (x, y, z)	m
	orientation	Cartesian-space orientation quaternion (x, y, z, w)