State / Health

Capability

Read motor feedback, system health, and module diagnostics, or subscribe to state.

Applicable Products

Available for supported 21 DOF products; 16/13 DOF products currently expose identification and JointLayout only.

Quick Example

Run these fragments with a connected hand. Python runs inside an async function; C++ requires revo3/revo3.hpp, iostream, vector, chrono, and stdexcept; handle SdkError at the application boundary.

state = await hand.state.snapshot()
health = await hand.health.snapshot()
print(state.positions_deg)
print(health.safety_state, health.faulted_motor_count)

const auto state = hand.state().snapshot();
const auto health = hand.health().snapshot();
std::cout << static_cast<int>(health.safety_state) << " "
          << health.faulted_motor_count << "\n";

Parameters and Returns

Operation	Parameters	Returns
State.snapshot()	—	HandState
Health.snapshot()	—	HealthSnapshot

Find full signatures, defaults, units, and Python / C++ differences by operation:

Errors and Limits

period is the SDK polling interval, not a firmware sampling-rate guarantee. Call close() when a subscription ends. State and Health are collected separately, without an atomic snapshot guarantee.

Errors, Timeouts, and Retries · Language Binding Differences