State, Touch, and Health

State

snapshot() returns HandState with position, velocity, current, operating state, and timestamp. subscribe() returns a StateSubscription that must be closed.

Touch

Touch covers layout, snapshots, subscriptions, module enablement, read mode, value mode, taring, status, and module maintenance. Key types include TouchLayout, TouchModuleLayout, TouchFrame, TouchModuleData, TouchForce3D, TouchTorque2D, regions, signals, and sample states. The C ABI names are CRevo3TouchForce3D and CRevo3TouchTorque2D.

• snapshot() reads all enabled modules and returns a TouchFrame.
• snapshot(module_indices=[...]) reads selected modules in request order and returns a TouchFrame.
• module_snapshot(module_index) reads one module and returns TouchModuleData.

Interpret optional data together with layout capabilities and SampleState.

The TouchModuleData field names remain force3d and torque2d. The type names express the physical quantities while the field names and dimensions remain unchanged.

Health

HealthSnapshot covers system state, error code, electrical values, temperature, per-motor fault codes, faulted motor count, and safety state. Health also exposes motor temperatures, online masks, subscriptions, and runtime statistics.

Use the official API specification for exact fields and clock semantics.