diff --git a/include/ur_rtde_driver/primary/robot_state/kinematics_info.h b/include/ur_rtde_driver/primary/robot_state/kinematics_info.h
index 660fb8d..5c8a450 100644
--- a/include/ur_rtde_driver/primary/robot_state/kinematics_info.h
+++ b/include/ur_rtde_driver/primary/robot_state/kinematics_info.h
@@ -29,18 +29,21 @@ namespace primary_interface
 class KinematicsInfo : public RobotState
 {
 public:
-  KinematicsInfo() = default;
+  KinematicsInfo() = delete;
+  KinematicsInfo(const RobotStateType type) : RobotState(type)
+  {
+  }
   virtual ~KinematicsInfo() = default;
 
   virtual bool parseWith(comm::BinParser& bp);
   virtual std::string toString() const;
 
-  vector6d_t checksum_;
+  vector6uint32_t checksum_;
   vector6d_t dh_theta_;
   vector6d_t dh_a_;
   vector6d_t dh_d_;
   vector6d_t dh_alpha_;
-  uint8_t calibration_status_;
+  uint32_t calibration_status_;  // According to the docs this should be uint8_t, but then I have 3 bytes left.
 };
 
 // TODO: Handle pre-3.6 as they don't have kinematics info
diff --git a/src/primary/robot_state/kinematics_info.cpp b/src/primary/robot_state/kinematics_info.cpp
index 77808ef..3a22bcb 100644
--- a/src/primary/robot_state/kinematics_info.cpp
+++ b/src/primary/robot_state/kinematics_info.cpp
@@ -34,6 +34,12 @@ bool KinematicsInfo::parseWith(comm::BinParser& bp)
 std::string KinematicsInfo::toString() const
 {
   std::stringstream os;
+  os << "checksum: [";
+  for (size_t i = 0; i < checksum_.size(); ++i)
+  {
+    os << checksum_[i] << " ";
+  }
+  os << "]" << std::endl;
   os << "dh_theta: [";
   for (size_t i = 0; i < dh_theta_.size(); ++i)
   {
@@ -62,6 +68,8 @@ std::string KinematicsInfo::toString() const
   }
   os << "]" << std::endl;
 
+  os << "calibration_status: " << calibration_status_ << std::endl;
+
   return os.str();
 }
 }  // namespace primary_interface