Python:

UDP-Based Pushed Expansion Joint State rm_udp_expand_state_t

Parameter description

Parameter	Type	Description
pos	float	Current angle, unit: °, accuracy: 0.001°
current	int	Current drive current, unit: mA, accuracy: 1 mA
err_flag	int	Drive error code, refer to joint error codes for details
en_flag	int	Current joint enabling state, 1: enable, 0: disable
joint_id	int	Joint ID
mode	int	Current lifting state, 0: idle, 1: forward speed motion, 2: forward position motion, 3: backward speed motion, 4: backward position motion