diff --git a/include/ur_modern_driver/types.h b/include/ur_modern_driver/types.h
new file mode 100644
index 0000000..8c51443
--- /dev/null
+++ b/include/ur_modern_driver/types.h
@@ -0,0 +1,12 @@
+#pragma once
+
+#include <inttypes.h>
+
+typedef struct {
+    double x, y, z;
+} double3_t;
+
+typedef struct {
+    double3_t position;
+    double3_t rotation;
+} cartesian_coord_t;
\ No newline at end of file