Touch data

Begin with TouchLayout. Revo3 models and BOM variants can expose different modules, signals, and point counts; a single hard-coded layout is not portable.

1. Read hand.touch.layout.
2. Inspect module ID, region, layout ID, point count, and signals.
3. Select read and value modes when required.
4. Read snapshots or subscribe.
5. Check each module's SampleState before optional fields.

TouchModuleData.points can be absent when a module is disabled, unavailable, not sampled, failed, or not represented as a point array in the current mode. Missing data is not a valid all-zero sample.

Public operations use the layout's module_id, which may be sparse and need not equal the array index. Taring changes calibration state and must run only under confirmed no-contact conditions. See the telemetry API.

Modes and taring

• set_read_mode() changes the data representation returned by the device.
• set_value_mode() selects ADC or Force values when supported.
• tare() changes tactile zero state and must run only when the sensor is unloaded as required by the device.
• tare_status() reports progress for asynchronous taring.

Mode changes and taring are stateful operations. Record the layout, mode, firmware version, and result before and after the operation; do not change them implicitly inside an acquisition loop.