Config, Calibration, and Maintenance

Config exposes DeviceConfig snapshots and setters for baud rates, protection currents, joint limits, broadcast behavior, automatic fault clearing, power-on calibration, and device switches. RuntimeOptions affect host-side behavior.

Calibration covers device calibration, calibration current, current-position zeroing, zero offsets, and restoration of finger defaults.

Maintenance covers reboot, factory reset, firmware update, and update abort. Record target, progress, timeout, operation effect, and recovery requirement. These operations can change persistent device state; follow the maintenance guide.