⚙ Development Guide > SDK > API > Data Structures

EEFState

The end-effector state-feedback data structures likewise consist of joint state (EEFJointState) and motor state (EEFMotorState). They are defined as follows:

class EEFJointState:
    eef_pos: float
    eef_vel: float
    eef_eff: float

class EEFMotorState:
    eef_motor_temp: float
    eef_mos_temp: float
    eef_error_id: int

Class	Field	Description	Unit
EEFJointState	eef_pos	Current joint position	rad
	eef_vel	Current joint velocity	rad/s
	eef_eff	Current joint current	A
EEFMotorState	eef_motor_temp	Motor temperature	°C
	eef_mos_temp	MOSFET temperature	°C
	eef_error_id	Status code/error code