Get SDK

SDK Overview

The Dexterous Hand SDK (Software Development Kit) is a comprehensive software toolkit designed for dexterous hand device development, providing complete programming interfaces and control functions. The SDK targets developers in robotics, prosthetics, and industrial automation, supporting both Python and C++ programming languages with rich example code to help you get started quickly.

Download & Resources

SDK Repository

GitHub - stark-serialport-example

Example Code

• Python Examples
• C++ Examples

Release Notes

v1.1.5 (2026/02/09)

🐛 Bug Fixes

• Fixed CANFD boundary check issue
• SocketCAN scan now iterates all interfaces

🚀 New Features

• SocketCAN Python bindings (init_socketcan_canfd, close_socketcan, socketcan_scan_devices)
• Device context query APIs: stark_get_protocol_type, stark_get_port_name, stark_get_baudrate, etc.
• CAN device initialization: init_device_handler_can() / init_device_handler_can_with_hw_type()
• StarkProtocolType::Auto = 0 enum value for auto-detecting all protocols

🔧 Example Improvements

• Runtime CAN backend selection, new communication frequency test utilities

---

v1.1.3 (2026/02/06)

🚀 New Features

• Built-in SocketCAN Support (Linux) - No external code required
• Protobuf Protocol Support - Revo1 serial protocol, baud rate 115200, Slave ID 10-254

---

v1.1.0 (2025/02/05)

🚀 New Features

• Built-in ZQWL CAN adapter support (Linux / macOS / Windows, no extra DLL needed)
• Unified device auto-detection API: auto_detect() → init_from_detected() → close_device_handler()
• Stark 1.8 tactile support (RS-485 / CAN protocols)
• Cross-platform C++ examples (c/demo/)
• Python GUI debugging tools (motor control, tactile data, waveform monitoring)

⚠️ Breaking Changes

• Hardware type enum refactored, added Revo1Advanced / Revo1AdvancedTouch
• API renamed: is_revo1() → uses_revo1_motor_api(), is_revo2() → uses_revo2_motor_api()
• Initialization split: init_config() → init_logging() + init_device_handler()
• C structs prefixed with C (e.g., MotorStatusData → CMotorStatusData)
• linux/ and windows/ example directories deprecated, migrate to c/

📚 Migration Guide

See CHANGELOG.md

---

v1.0.0 (2025/12/08)

🎉 Official Release

• Detail optimizations and official upgrade to version 1.0

v0.9.9 (2025/11/19)

🚀 New Features

• Support for Revo1 Advanced version devices ⭐
• Unified control parameter ranges: 0~1000 for position, -1000~+1000 for speed/current/PWM
• Applicable to all Modbus, CANFD, and CAN2.0 communication protocols

⚠️ Important Notice

• Revo1 Advanced version requires SDK v0.9.9 or higher
• Revo1 Basic and Touch versions can use any SDK version

v0.9.8 (2025/11/04)

🚀 New Features

• CAN/CANFD Protocol: Complete Revo2 CAN2.0/CANFD communication stack
• ZLG CAN Support: Python interface (Windows/Linux) with driver library
• CANFD Chunked R/W: Support for large data transfer (>29 registers)
• EtherCAT Tactile: Tactile sensor data collection (PDO/SDO)
• Pressure Tactile: EtherCAT/CANFD/RS-485 multi-protocol support
• Protected Current: ProtectedCurrent R/W for CAN/EtherCAT
• Action Sequence: run_action_sequence for CAN 2.0
• Device Type Detection: Serial number based (get_hardware_by_sn)
• Multi-Device Support: Revo1/Revo2 mixed usage

⚡ High-Frequency Communication Optimization

• C/C++ Async Calls: set commands now async, non-blocking
• High-Freq No Retry: get/set_finger_*, tactile reads - prevents command queue buildup
• Low-Freq Retry Reduced: Device info reads reduced to 2 retries

🐛 Bug Fixes

• Fixed TurboConfig byte order, Modbus C API async calls, OTA package size handling

---

v0.9.0 (2025/09/20)

🐛 Bug Fixes

• Fixed known issues and improved stability

v0.8.6 (2025/08/20)

🚀 New Features

• Added CAN2.0 protocol support for first-generation dexterous hand

🔧 API Improvements

• Function naming optimization:
  • modbus_ → stark_ (more universal prefix for CANFD and EtherCAT)
  • create_device_handler() updated naming to avoid ambiguity
  • canfd_init(uint8_t master_id) updated naming to avoid ambiguity
  • init_cfg no longer requires firmware type, automatically obtained via get_device_info interface

📚 Example Code

• ROS2 examples added CAN/CANFD support
• New CAN/CANFD C++ examples

v0.7.0 (2025/07/18)

🚀 New Features

• Auto-detection of Modbus slave baud rate and device ID
• Second-generation dexterous hand tactile version interface support

🐛 Bug Fixes

• Fixed DFU firmware upgrade issues

v0.6.2 (2025/07/14)

🚀 New Features

• EtherCAT Protocol Support: Second-generation dexterous hand supports EtherCAT high-speed communication
• Extended RS485 Baud Rates: Added 1M, 2M, and 5M baud rate options for high-performance applications
• Linux Serial Port Optimization: LOW_LATENCY mode enabled by default, 400% communication frequency improvement at 460800 baud

🔧 API Improvements

• Refactored device context naming:
  • ModbusContext → DeviceContext (more universal device context)
  • ModbusHandler → DeviceHandler (unified device operation interface)

🛠 Development Tools

• Integrated python-stub-gen toolchain for automatic type stub file (.pyi) generation, enhancing IDE intellisense and type checking

⚠️ Compatibility Notice

• Please note API naming changes when migrating from older versions

v0.5.3 (2025/06/12)

🚀 New Features

• Custom Modbus read/write interfaces
• Action sequence control
• LED, buzzer, vibration motor control

🐛 Bug Fixes

• Fixed real-time position/speed/current return value errors

v0.4.5 (2025/05/14)

🚀 New Features

• Added get_single_touch_status for single-finger touch detection

🔧 Improvements

• Simplified modbus_open function, removed redundant parameters

v0.4.4 (2025/05/06)

🚀 New Features

• Added CANFD protocol support

� Bug Fiixes

• Fixed multiple known issues, improved stability

v0.3.6 (2025/04/16)

� Milestone

• First support for Gen 2 dexterous hand
• Established basic communication framework

v0.1.9 (2025/03/17)

📌 Initial Release

• Modbus communication protocol
• Python / C code integration
• SDK architecture