Python SDK - Revo 1 Dexterous Hand

System Requirements

• Linux: Ubuntu 20.04/22.04 LTS
• macOS: 10.15+
• Windows: 10/11
• Python: 3.9 ~ 3.12 (Conda recommended)

Quick Start

Clone Repository

HTTPS

git clone https://github.com/BrainCoTech/brainco-hand-sdk.git

SSH

git clone git@github.com:BrainCoTech/brainco-hand-sdk.git

Installation and Configuration

Ubuntu

# Navigate to Python directory
cd brainco-hand-sdk/python

# Activate Conda environment (recommended)
conda activate py310

# Install SDK dependencies
pip install -r requirements.txt --index-url https://pypi.org/simple/

# If unable to install via PyPI, manually download and install the .whl file
# Download from: https://pypi.org/project/bc-stark-sdk/#files
pip install --force-reinstall '/path/to/bc_stark_sdk-x.x.x-cp39-abi3-manylinux_2_31_x86_64.whl'

# Configure serial port device permissions
# In Linux systems, serial devices (e.g., /dev/ttyUSB0) typically belong to the dialout user group
# Add current user to dialout group
sudo usermod -aG dialout $USER
# Note: You need to log out and log back in for this to take effect

# Run examples
cd revo1
python revo1_ctrl.py          # Single hand control
python revo1_touch.py         # Tactile sensor (tactile version)
python revo1_ctrl_multi.py    # Multi-hand control
python revo1_action_seq.py    # Action sequence
python revo1_cfg.py           # Device configuration
python revo1_dfu.py           # Firmware upgrade

macOS

# Installation steps same as Ubuntu
# Note: macOS serial device names are typically /dev/tty.usbserial-xxx

Windows

# If USB driver is not recognized, check serial port name in Device Manager
# Serial driver download: https://app.brainco.cn/universal/stark-serialport-prebuild/driver/CH340-drivers.zip

# Other installation steps same as Ubuntu
# Note: Windows serial device names are typically COM3, COM4, etc.

Sample Code

SDK provides rich sample code covering different communication protocols and application scenarios.

Cross-Platform Examples (Recommended) ⭐

Unified cross-platform examples with automatic device detection and multi-protocol support.

Example	Description
hand_demo.py	Comprehensive demo
hand_monitor.py	Real-time data monitoring
hand_dfu.py	Firmware upgrade

Modbus-RTU Protocol

Single Hand/Dual Hand Control

• Single Hand Control Example
• Dual Hand Control (Dual Serial Port) - Use two serial ports to connect left and right hands separately
• Dual Hand Control (Single Serial Port) - Use a single serial port to connect left and right hands, configure different device IDs (e.g., 1 and 2)

Tactile Sensor

• Get Tactile Information Example

Action Sequence (Gestures)

• Action Sequence Example

API Reference

For API lookup and code completion, use the complete type stub generated for bc-stark-sdk (v2.x): Download main_mod.pyi. The quick reference below covers the most commonly used APIs.

Basic and Advanced

After connecting, call info = await ctx.get_device_info(slave_id). For Revo 1 Basic and Advanced, the SDK identifies the model from the device SN and returns the result in info.hardware_type. Select APIs using this result and capability checks; applications do not need to parse the SN themselves. Revo1Basic / Revo1Touch use the Revo 1 motor API. Revo1Advanced / Revo1AdvancedTouch use the Revo 2 motor API. Capacitive touch on Revo1AdvancedTouch continues to use the Revo 1 touch API.

Advanced devices can use set_finger_position_with_millis(), set_finger_position_with_speed(), set_finger_positions_and_durations(), and set_finger_positions_and_speeds(). Confirm that info.uses_revo2_motor_api() returns true before calling them. See Revo 1 Advanced for the complete integration boundary.

API Quick Reference

Connection Management

API	Description
libstark.auto_detect()	Auto-detect devices (recommended, all protocols)
libstark.init_from_detected()	Initialize device from detection result
libstark.close_device_handler()	Close device connection (recommended)
libstark.list_available_ports()	List available serial ports
libstark.list_zqwl_devices()	List ZQWL CAN adapters
libstark.modbus_open()	Open Modbus connection
libstark.modbus_close()	Close Modbus connection
libstark.init_device_handler()	Create device handler (CAN/CANFD)
libstark.init_zqwl_can()	Initialize ZQWL CAN adapter
libstark.auto_detect_device()	Auto-detect device (deprecated)
libstark.auto_detect_modbus_revo1()	Auto-detect Revo 1 device (deprecated)

Device Information

API	Description
ctx.get_device_info()	Get complete device information
ctx.get_device_sn()	Get device serial number
ctx.get_device_fw_version()	Get firmware version
ctx.get_sku_type()	Get SKU type
ctx.get_voltage()	Get battery voltage
ctx.get_serialport_cfg()	Get serial port configuration
ctx.get_serialport_baudrate()	Get baud rate
ctx.set_serialport_baudrate()	Set baud rate
ctx.set_slave_id()	Set slave ID

Device Configuration

API	Description
ctx.get_force_level()	Get force level
ctx.set_force_level()	Set force level
ctx.get_auto_calibration_enabled()	Get auto-calibration status
ctx.set_auto_calibration()	Set auto-calibration
ctx.calibrate_position()	Manual position calibration
ctx.get_turbo_mode_enabled()	Get turbo mode status
ctx.set_turbo_mode_enabled()	Set turbo mode
ctx.get_turbo_config()	Get turbo configuration
ctx.set_turbo_config()	Set turbo configuration
ctx.reset_default_gesture()	Reset to default gestures
ctx.reset_default_settings()	Reset to default settings
ctx.reboot()	Reboot device

Device Type Checking

API	Description
ctx.is_touch_hand()	Check if device has touch sensors
ctx.uses_revo1_motor_api()	Check if uses Revo 1 Motor API
ctx.uses_revo2_motor_api()	Check if uses Revo 2 Motor API
ctx.uses_revo1_touch_api()	Check if uses Revo 1 capacitive-touch API
ctx.uses_pressure_touch_api()	Check if uses Pressure Touch API

Motor Control - Position

API	Description
ctx.set_finger_position()	Set single finger position (0~1000)
ctx.set_finger_positions()	Set all finger positions
ctx.get_finger_positions()	Get all finger positions

Motor Control - Speed

API	Description
ctx.set_finger_speed()	Set single finger speed (-1000~+1000)
ctx.set_finger_speeds()	Set all finger speeds
ctx.get_finger_speeds()	Get all finger speeds

Motor Control - Current

API	Description
ctx.set_finger_current()	Set single finger current (-1000~+1000)
ctx.set_finger_currents()	Set all finger currents
ctx.get_finger_currents()	Get all finger currents

Motor Status

API	Description
ctx.get_motor_status()	Get comprehensive motor status
ctx.get_motor_state()	Get motor running state

Touch Sensors

API	Description
ctx.get_touch_sensor_enabled()	Get touch sensor enabled status
ctx.get_touch_sensor_fw_versions()	Get touch sensor firmware versions
ctx.get_touch_sensor_raw_data()	Get touch raw data
ctx.get_touch_sensor_status()	Get touch sensor status
ctx.touch_sensor_setup()	Setup touch sensors
ctx.touch_sensor_reset()	Reset touch sensors
ctx.touch_sensor_calibrate()	Calibrate touch sensors

LED and Button

API	Description
ctx.get_led_info()	Get LED status
ctx.set_led_info()	Set LED status
ctx.get_button_event()	Get button event

Action Sequences

API	Description
ctx.get_action_sequence()	Get action sequence
ctx.transfer_action_sequence()	Upload action sequence
ctx.save_action_sequence()	Save action sequence to flash
ctx.run_action_sequence()	Execute action sequence
ctx.clear_action_sequence()	Clear custom action sequence

Firmware Upgrade

API	Description
ctx.start_dfu()	Start firmware upgrade