# State Monitoring

## current_position

```python
robot.current_position
```

Returns the current TCP pose in mm / degree rotation-vector representation.

## current_angle

```python
robot.current_angle
```

Returns the current joint angles in degrees.

## state()

```python
state = robot.state()
```

Returns a combined view of state information available from RTDE / Dashboard.

Main elements include:

- `connected`  
- `running`  
- `motion_complete`  
- `robot_mode`  
- `robot_mode_name`  
- `robot_status_bits`  
- `robot_status_flags`  
- `safety_mode`  
- `safety_status_bits`  
- `safety_status_flags`  
- `protective_stopped`  
- `emergency_stopped`  
- `dashboard`  

## Robot mode

| Value | Name |
|---:|---|
| -1 | NO_CONTROLLER |
| 0 | DISCONNECTED |
| 1 | CONFIRM_SAFETY |
| 2 | BOOTING |
| 3 | POWER_OFF |
| 4 | POWER_ON |
| 5 | IDLE |
| 6 | BACKDRIVE |
| 7 | RUNNING |
| 8 | UPDATING_FIRMWARE |

## Safety status bits

| Bit | Name |
|---:|---|
| 0 | normal_mode |
| 1 | reduced_mode |
| 2 | protective_stopped |
| 3 | recovery_mode |
| 4 | safeguard_stopped |
| 5 | system_emergency_stopped |
| 6 | robot_emergency_stopped |
| 7 | emergency_stopped |
| 8 | violation |
| 9 | fault |
| 10 | stopped_due_to_safety |

## motion_complete()

```python
robot.motion_complete()
```

Returns the result of RTDEControl's `isSteady()`.

## wait_for_complete()

```python
robot.wait_for_complete(timeout=10.0)
```

Waits until the motion is complete.