Touch Data

Capability

Read tactile arrays, fingertip force and torque, or subscribe to frames using the resolved layout.

Applicable Products

UF1–UF3, UT1, UT2, and UV1–UV4 with confirmed primary-link arrays. A dedicated SDK supplies independent vision-tactile data for UV5 and UV6.

Check the product support matrix

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.

layout = hand.touch.layout
if layout is None:
    raise RuntimeError("Touch layout is unavailable")
frame = await hand.touch.snapshot()
for module in frame.modules:
    print(module.module_id, module.sample_state)

const auto layout = hand.touch().layout();
const auto frame = hand.touch().snapshot();
for (const auto& module : frame.modules) {
    std::cout << module.module_id << " "
              << static_cast<int>(module.sample_state) << "\n";
}

Parameters and Returns

Operation	Parameters	Returns
Touch.snapshot()	Optional module_indices; read in request order	TouchFrame
Touch.module_snapshot(i)	Public module ID	TouchModuleData

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

Errors and Limits

Find modules by module_id and check sample_state before optional fields. Unsupported operations return UnsupportedCapability. Do not replace failed reads with zeros or guess unknown layouts.

Errors, Timeouts, and Retries · Language Binding Differences