Manus Omni Bridge

This workspace marries the Manus MetaGlove Pro with the Agibot Omnihand. Through Pinocchio (kinematics) and NLopt (non-linear optimization), we retarget human hand movements from Manus into the robotic fingers of the Omnihand.

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Packages

This workspace contains:

1. The Human Side (Manus)

• ManusSDK - The official Manus SDK headers/libs.
• manus_ros2 - The ROS 2 publisher.
• manus_ros2_msgs - Custom message definitions.

2. The Robot Side (Agibot)

• omnihand_node - The interface node that actually talks to the Agibot hardware.
• omnihand_*_msgs (e.g., omnihand_2025_node_msgs, omnihand_pro_2025_node_msgs) - Agibot's native message structures.
• omnihand_description-* - URDFs, visual meshes, and kinematics configurations defining the Omnihand (versions O10 and O12).

3. The Bridge

• manus_omni_bridge - This node subscribes to the MetaGlove Pro joints, feeds them into a Pinocchio kinematic tree, and uses NLopt to optimize the output joint angles so the Omnihand mimics your real hand flawlessly without breaking itself.

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🛠️ Dependencies

• ROS 2 (Tested on Humble)
• Eigen3 (Math fundamentals)
• Pinocchio (ros-<distro>-pinocchio or compiled from source)
• NLopt (libnlopt-dev libnlopt-cxx-dev- Non-linear optimization library)
• Manus Core running on your Windows/Linux machine (make sure the glove is connected and calibrated in Manus Core).

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🚀 Building the Project

Just your standard ROS 2 colcon workflow. From the root of your workspace (\Manus_Omni_bridge\):

# Build the entire workspace
colcon build --symlink-install

# Source it
source install/setup.bash

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🕹️ Running this project

You have a few ways to launch the stack depending on your exact setup. By default, the manus_omni_bridge handles the whole process.

1. Run the Standard Hand (Direct Mapping)

ros2 launch manus_omni_bridge manus_omni_bridge.launch.py

2. Run with the Omnihand Pro

ros2 launch manus_omni_bridge manus_omni_bridge.launch.py is_pro:=true

3. Run the Pro Hand + Full NLopt Retargeting (This enables the full mathematical optimization pipeline using Pinocchio and NLopt!)

ros2 launch manus_omni_bridge manus_omni_bridge.launch.py is_pro:=true manus_retargeting:=true

4. Debugging Mode

ros2 launch manus_omni_bridge manus_omni_bridge.launch.py is_pro:=true debug_print:=true

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