What motors do you use for the arm and what interfaces do you provide (position, velocity, effort)? How long does the battery last when idling?
On the motors, these are dynamixels from robotis, and we provide all three of position, velocity, and effort on the low-level SDK (in ROS2 too)
and much higher interfaces for interaction and ai manipulation. Like directly recording episodes of training data so that the arm can use a VLA instead of simple IK.