bc_stark_sdk 1.1.2

BrainCo Stark SDK

BrainCo Stark SDK

Industrial dexterous hand control SDK supporting multiple protocols and platforms.

Supported Devices

Device	Type	Motor	Touch	Protocol
Revo1 Basic	1	6-DOF	-	Modbus, CAN
Revo1 Touch	2	6-DOF	Capacitive	Modbus, CAN
Revo1 Advanced	3	6-DOF	-	Modbus, CAN
Revo1 Advanced Touch	4	6-DOF	Capacitive	Modbus, CAN
Revo2 Basic	5	6-DOF	-	Modbus, CAN, CANFD
Revo2 Touch	6	6-DOF	Capacitive	Modbus, CAN, CANFD
Revo2 Touch Pressure	7	6-DOF	Pressure	Modbus, CAN, CANFD

Touch Sensor Types

Type	Devices	Features
Capacitive	Revo1 Touch, Revo1 Advanced Touch, Revo2 Touch	Normal/tangential force, proximity
Pressure (Modulus)	Revo2 Touch Pressure	High-precision pressure distribution

Protocol & Platform

Protocol	Linux	macOS	Windows	Adapter
Modbus RTU	✅	✅	✅	-
CAN 2.0	✅	✅	✅	ZQWL (built-in)
CAN FD	✅	✅	✅	ZQWL (built-in)
CAN 2.0/FD	✅	❌	❌	SocketCAN (built-in, Linux)
CAN 2.0/FD	✅	❌	✅	ZLG (external DLL)
EtherCAT	✅	❌	❌	-

API Overview

• Motor control (position, speed, current, force)
• Motor status (angle, current, error, voltage, etc.)
• Touch sensor (proximity, contact, pressure)
• Device info (SN, firmware version, hand type)
• System config (baudrate, CAN ID, limits)
• DFU (firmware update)

Full API: C Header | Python Stubs

Quick Start

Python

# Development build
conda activate py310
bash scripts/build_python.sh

# Run example
cd examples/python/revo2
python revo2_ctrl.py

C/C++

# Build SDK
bash scripts/build_c.sh

# Build & run examples
cd examples/c
make
make run revo2_ctrl

Rust (internal)

# Run example
cargo run --example stark_test

# Test
cargo test stark_msg -- --show-output

Build & Publish

Python

# Setup conda environment (first time)
conda create -n py310 python=3.10
conda activate py310
pip install maturin patchelf

# Development build
bash scripts/build_python.sh

# Generate stubs (.pyi)
bash scripts/run_stub_gen.sh

# Publish to PyPI
bash scripts/publish_python.sh

C/C++

# Build SDK
bash scripts/build_c.sh

# Build and upload to OSS
bash scripts/build_c.sh -upload

Cross-Platform Build

Windows (cross-compile from macOS/Linux)

# Prerequisites: brew install mingw-w64 && rustup target add x86_64-pc-windows-gnu

# Build Windows DLL
bash scripts/build_win.sh

# Build C++ examples for Windows
cd examples/c
make TARGET=win

Windows (native via GitHub Actions)

Production Windows builds use GitHub Actions with MSVC:

• .github/workflows/build-c.yml - Build and upload C SDK (Windows/Linux/macOS)
• .github/workflows/build-python.yml - Build and publish Python wheels

Linux (via Docker)

# Enter container
docker exec -it projects_x86_64 bash   # x86_64
docker exec -it projects_arm64 bash    # ARM64

# Inside container:
cd bc-stark-sdk
bash scripts/build_c.sh
conda activate py310
bash scripts/build_python.sh

Code Generation

# Generate C header (stark-sdk.h)
cargo b --lib --release --features stark-cbindgen

# Generate Python stubs (.pyi)
bash scripts/run_stub_gen.sh

# Copy to example repo
bash scripts/copy-to-example.sh

Scripts Reference

Script	Description
build_c.sh	Build C SDK (native platform)
build_c.sh -upload	Build and upload to CDN
build_win.sh	Cross-compile Windows DLL
build_python.sh	Build Python wheel (dev)
publish_python.sh	Publish to PyPI
run_stub_gen.sh	Generate Python type stubs
copy-to-example.sh	Sync to example repository

Documentation

• Protocol Overview - Modbus/CAN/EtherCAT comparison
• Architecture - Internal code structure
• Rust Examples - Rust example reference
• C++ Examples - Build & run guide
• CAN Adapter Guide - ZQWL/ZLG/SocketCAN setup
• CAN ID Guide - CAN protocol details
• CAN Protocol Comparison - CAN 2.0 vs CANFD
• Revo1 Advanced Touch - Hybrid device design
• EtherCAT Commands - EtherCAT CLI reference
• Shared Buffer API - High-performance data collection
• Parameter Spec - Unified parameter ranges
• Technical Architecture - External system design

Links

• Example
• PyPI
• Online Docs