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OmniHand Pro 2025 SDK

Overview

OmniHand Pro 2025 is a 12-degree-of-freedom professional dexterous hand featuring precise operation and flexible control capabilities. It is equipped with tactile sensors and multiple control modes (position control, torque control, hybrid control), making it suitable for a wide range of applications including research and education, entertainment and commercial performances, exhibition guidance, and industrial scenarios. To facilitate rapid development and application by users, we provide the accompanying OmniHand Pro 2025 SDK development package, which supports both Python and C++ API interfaces for implementing dexterous hand control and data acquisition functions.

Getting Started

System Requirements

Hardware Requirements

• ZLG USBCANFD series (USBCANFD-100U-mini/USBCANFD-100U recommended)

Software Requirements

• Operating System: Ubuntu 22.04 (x86_64)
• Compiler: GCC 11.4 or higher
• Build Tools: CMake 3.16 or higher
• Python: 3.10 or higher

Installation

You can choose between source code compilation installation or pre-compiled package installation.

Source Code Compilation Installation

Execute the following command in the project root directory:

./build.sh -DCMAKE_BUILD_TYPE=Release \
           -DCMAKE_INSTALL_PREFIX=./build/install \
           -DBUILD_PYTHON_BINDING=ON \
           -DBUILD_CPP_EXAMPLES=OFF \

DBUILD_PYTHON_BINDING is used to enable Python binding module compilation, and BUILD_CPP_EXAMPLES is used to disable C++ example code compilation.

Pre-compiled Package Installation

Python whl Package Installation

# Download the corresponding version of python whl package from GitHub
# Example: agibot_hand_py-0.8.0-cp310-cp310-linux_x86_64.whl
pip install agibot_hand_py-0.8.0-cp310-cp310-linux_x86_64.whl

Dexterous Hand Motor Index

OmniHand Pro 2025 has 12 degrees of freedom, indexed from 1 to 12. The control motors corresponding to each index are shown in the figure below:

Running Examples

cd python/example

python3 ./demo_gestures_ok.py

Directory Structure

├── thirdParty              # Third-party dependency libraries
├── src                     # C++ core source code
│   ├── proto.h
│   ├── export_symbols.h
│   ├── CMakeLists.txt
│   ├── can_bus_device
│   ├── c_agibot_hand.h
│   └── c_agibot_hand.cc
├── scripts                 # Script tools directory
│   └── setup.sh
├── python                  # Python binding module (Python interface generated from C++ source code)
├── examples                # C++ example code
├── document                # Documentation directory
├── CMakeLists.txt          # Main CMake configuration file
├── cmake                   # CMake modules directory
└── build.sh                # Build script

API Introduction

For detailed API usage instructions, please refer to the following links:

• OmniHand Pro 2025 SDK C++ API Documentation
• OmniHand Pro 2025 SDK Python API Documentation

FAQ

Q1: Unable to communicate with the hand when starting the program?

A: First, ensure that the driver is properly installed. For details, refer to the ZLG Driver Installation Guide. Make sure the hand power is connected and the USB end is plugged into the computer, then execute the following commands:

lsusb

sudo chmod 666 /dev/bus/usb/xxx/yyy
# Replace `xxx/yyy` with the actual USB device path shown by the `lsusb` command.

Q2: Source code compilation fails during Python packaging step?

A: Check if the following dependencies are installed:

sudo apt install python3.10-dev

pip3 install build setuptools wheel

Copyright

Copyright (c) 2025 Agibot Co., Ltd. OmniHand Pro 2025 SDK is licensed under Mulan PSL v2.

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Document Version: v0.8.0 Last Updated: 2025-8