State based architecture

[clemens-chr]

State-Based Architecture Implementation TODO

Core State Management

• Add state synchronization configuration to config.yaml with sync_frequency: 100 (Hz)
• Add state variables to OrcaHand.__init__(): _motor_state, _joint_state, _state_lock, _state_thread, _state_running

State Synchronization Thread

• Implement _start_state_sync() and _state_sync_loop() methods to continuously update cached motor and joint states at configurable frequency

Fast State Getters

• Modify get_motor_pos(), get_motor_current(), get_motor_temp(), and get_joint_pos() to return cached state instead of blocking reads, and add refresh_motor_state() for force updates