diff --git a/stretch_core/nodes/command_groups.py b/stretch_core/nodes/command_groups.py
index 6e7ad40..d949c85 100644
--- a/stretch_core/nodes/command_groups.py
+++ b/stretch_core/nodes/command_groups.py
@@ -370,7 +370,7 @@ class ArmCommandGroup(SimpleCommandGroup):
         arm_status = robot_status['arm']
         arm_backlash_correction = self.retracted_offset_m if self.retracted else 0.0
         pos = arm_status['pos'] + arm_backlash_correction
-        return (pos, arm_status['vel'], arm_status['motor']['effort'])
+        return (pos, arm_status['vel'], arm_status['motor']['effort_pct'])
 
 
 class LiftCommandGroup(SimpleCommandGroup):
@@ -410,7 +410,7 @@ class LiftCommandGroup(SimpleCommandGroup):
 
     def joint_state(self, robot_status, **kwargs):
         lift_status = robot_status['lift']
-        return (lift_status['pos'], lift_status['vel'], lift_status['motor']['effort'])
+        return (lift_status['pos'], lift_status['vel'], lift_status['motor']['effort_pct'])
 
 
 class MobileBaseCommandGroup(SimpleCommandGroup):