Data channels & read methods

Read-only channels

• device.telemetry() returns ReadChannel[ExoTelemetry].
• device.status() returns ReadChannel[ExoStatus].

telemetry = device.telemetry()
latest = telemetry.latest()          # Sample[ExoTelemetry] | None
subscription = telemetry.subscribe(print)
sample = await telemetry.next()

latest() returns None before the first sample. Subscription callbacks run on an SDK runtime thread and should stay short. next() fits asyncio workflows.

Telemetry payload

ExoTelemetry.payload contains:

• left_arm and right_arm: eight encoder_counts and eight joint_positions_rad values.
• left_handset and right_handset: raw axes, trigger, and button bit mask.
• torso_imu and extra_imu: optional acceleration, angular velocity, and XYZW orientation.

Read device.get_device_info().capabilities before presenting IMU or handset data. The status channel reports connection, freshness, and bounded error information.