diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 6bd370e..7ae0a2a 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -21,6 +21,9 @@ jobs:
       - name: Run pre-commit
         run: pixi run pre-commit run --all-files
 
+      - name: SDK unit tests
+        run: pixi run test-sdk
+
       - name: PythonExample unit tests
         run: pixi run test-python-example
 
diff --git a/.gitignore b/.gitignore
index 01c8096..86ec081 100644
--- a/.gitignore
+++ b/.gitignore
@@ -4,6 +4,7 @@ push.json
 
 # Python package metadata (pip install -e)
 *.egg-info/
+dist/
 
 # Rust build output
 target/
@@ -11,3 +12,4 @@ target/
 # Dora / local output and logs
 Demo/out/
 out/
+*.code-workspace
diff --git a/AmazingHand.code-workspace b/AmazingHand.code-workspace
deleted file mode 100644
index 876a149..0000000
--- a/AmazingHand.code-workspace
+++ /dev/null
@@ -1,8 +0,0 @@
-{
-	"folders": [
-		{
-			"path": "."
-		}
-	],
-	"settings": {}
-}
\ No newline at end of file
diff --git a/Demo/README.md b/Demo/README.md
index bf3928f..22f57c7 100644
--- a/Demo/README.md
+++ b/Demo/README.md
@@ -2,7 +2,7 @@
 
 ## Running with pixi
 
-Prerequisites: install [Pixi](https://pixi.prefix.dev/latest/installation/). Rust is needed for real hardware demos (AHControl). Before running real hardware demos, check the serial port in the dataflow YAML: the default is Linux (`/dev/ttyACM0`); on Windows use your COM port (e.g. `COM3`).
+Prerequisites: install [Pixi](https://pixi.prefix.dev/latest/installation/). Rust is needed for real hardware demos (AHControl). Before running real hardware demos, check the serial port in the dataflow YAML: the default is Linux (`/dev/ttyACM0`); on Windows use your COM port (e.g. `COM3`). Run `pixi run check-devices` to list webcam indices and serial ports.
 
 From the AmazingHand repository root (Git Bash on Windows, or a Unix shell on Linux/macOS):
 
diff --git a/Demo/dataflow_tracking_real_team_krishan.yml b/Demo/dataflow_tracking_real_team_krishan.yml
new file mode 100644
index 0000000..0b61064
--- /dev/null
+++ b/Demo/dataflow_tracking_real_team_krishan.yml
@@ -0,0 +1,28 @@
+# team_krishan (left hand), Windows: AHControl.exe, COM port.
+# Dora spawns nodes with cwd = Demo/, path relative to Demo.
+# See docs/canonical_hand_config_design.md.
+nodes:
+  - id: hand_tracker
+    build: python -m pip install -e HandTracking
+    path: HandTracking/HandTracking/main.py
+    inputs:
+      tick: dora/timer/millis/50
+    outputs:
+      - l_hand_pos
+
+  - id: l_hand_simulation
+    build: python -m pip install -e AHSimulation
+    path: AHSimulation/AHSimulation/mj_mink_left.py
+    inputs:
+      l_hand_pos: hand_tracker/l_hand_pos
+      tick: dora/timer/millis/2
+      tick_ctrl: dora/timer/millis/10
+    outputs:
+      - mj_l_joints_pos
+
+  - id: hand_controller
+    build: cargo build -p AHControl
+    path: target/debug/AHControl.exe
+    args: --serialport COM3 --config ../config/calibration/l_hand_team_krishan.toml
+    inputs:
+      mj_l_joints_pos: l_hand_simulation/mj_l_joints_pos
diff --git a/Demo/scripts/check_devices.py b/Demo/scripts/check_devices.py
new file mode 100644
index 0000000..444955f
--- /dev/null
+++ b/Demo/scripts/check_devices.py
@@ -0,0 +1,126 @@
+#!/usr/bin/env python3
+# Copyright (C) 2026 Julia Jia
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Check webcam indices and serial ports. Run before demos to verify devices."""
+
+import os
+import sys
+
+_MAX_CAMERA_PROBE = 3
+
+
+def check_webcams():
+    """Probe camera indices 0..N and report which open successfully."""
+    try:
+        import cv2
+    except ImportError:
+        print("Webcam: opencv-python not installed (pip install opencv-python)")
+        return
+    available = []
+    devnull = os.open(os.devnull, os.O_WRONLY)
+    stderr_fd = os.dup(2)
+    try:
+        os.dup2(devnull, 2)
+        for i in range(_MAX_CAMERA_PROBE):
+            cap = cv2.VideoCapture(i)
+            if cap.isOpened():
+                w = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH))
+                h = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
+                available.append((i, w, h))
+                cap.release()
+    finally:
+        os.dup2(stderr_fd, 2)
+        os.close(stderr_fd)
+        os.close(devnull)
+    if available:
+        print("Webcam indices:")
+        for idx, w, h in available:
+            print(f"  {idx}: {w}x{h}")
+        print("  Use index 0 in HandTracking unless you have multiple cameras.")
+        if len(available) >= 2:
+            print("  Note: indices 0 and 1 may be the same camera (Linux exposes multiple /dev/video* nodes). Try 0 first; if wrong, try 1.")
+    else:
+        print(f"Webcam: no cameras found (indices 0..{_MAX_CAMERA_PROBE - 1})")
+
+
+def _is_usb_port(device):
+    """Prefer USB serial devices (hand controller) over built-in ttyS."""
+    d = device.upper()
+    return "ACM" in d or "USB" in d or d.startswith("COM")
+
+
+def _port_status(device):
+    """Try opening port. Return 'available', 'in_use', or 'no_permission'."""
+    try:
+        import serial
+    except ImportError:
+        return None
+    try:
+        ser = serial.Serial(device, timeout=0.1)
+        ser.close()
+        return "available"
+    except OSError as e:
+        if e.errno == 16:  # EBUSY
+            return "in_use"
+        if e.errno in (13, 1):  # EACCES, EPERM
+            return "no_permission"
+        return None
+    except Exception as e:
+        msg = str(e).lower()
+        if "busy" in msg or "in use" in msg or "resource" in msg:
+            return "in_use"
+        if "denied" in msg or "permission" in msg or "access" in msg:
+            return "no_permission"
+        return None
+
+
+def check_serial_ports():
+    """List serial ports. Linux: /dev/ttyACM*, /dev/ttyUSB*. Windows: COM*."""
+    try:
+        import serial.tools.list_ports
+    except ImportError:
+        print("Serial: pyserial not installed (pip install pyserial)")
+        return
+    ports = list(serial.tools.list_ports.comports())
+    usb = [p for p in ports if _is_usb_port(p.device)]
+    other = [p for p in ports if p not in usb]
+    shown = usb or other
+    if shown:
+        print("Serial ports:")
+        for p in sorted(shown, key=lambda x: (not _is_usb_port(x.device), x.device)):
+            desc = p.description or ""
+            note = " (USB, likely hand)" if _is_usb_port(p.device) else ""
+            status = _port_status(p.device)
+            if status == "in_use":
+                note += " [IN USE by another process]"
+            elif status == "no_permission":
+                note += " [no permission; Linux: add user to dialout group]"
+            print(f"  {p.device}: {desc}{note}")
+        if usb:
+            print("  Use the USB device in dataflow YAML --serialport.")
+    else:
+        print("Serial: no serial ports found. Connect the hand via USB and ensure drivers are installed.")
+
+
+def main():
+    print("=== AmazingHand device check ===\n")
+    check_webcams()
+    print()
+    check_serial_ports()
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())
diff --git a/FORK.md b/FORK.md
index d503567..5152de7 100644
--- a/FORK.md
+++ b/FORK.md
@@ -1,3 +1,23 @@
 # Differences from Upstream
 
-See the fork notice in [README.md](README.md). This file is for documenting how this repo differs from [pollen-robotics/AmazingHand](https://github.com/pollen-robotics/AmazingHand) (e.g. layout, tooling, refactors).
+See the fork notice in [README.md](README.md). This file documents how this repo differs from [pollen-robotics/AmazingHand](https://github.com/pollen-robotics/AmazingHand).
+
+## Cross-Platform Support (Linux, Windows)
+
+Pixi-based setup; MSVC toolchain for Rust on Windows. See [docs/DEVELOPMENT.md](docs/DEVELOPMENT.md).
+
+## Canonical Configuration
+
+Shared hand geometry, per-physical-hand calibration, named profiles. See [docs/canonical_hand_config_design.md](docs/canonical_hand_config_design.md).
+
+## AmazingHand SDK
+
+Python package for named poses and raw angles. See [README_PKG.md](README_PKG.md).
+
+## CI
+
+GitHub Actions for lint (pre-commit), SDK, PythonExample, Demo, and AHControl tests. See [.github/workflows/ci.yml](.github/workflows/ci.yml).
+
+## Other Changes
+
+Pixi for dependency management; unit tests for SDK, PythonExample, Demo, and AHControl; Dora/MuJoCo simulation demos; pre-commit hooks.
diff --git a/PythonExample/common.py b/PythonExample/common.py
index 8a0f9ef..56a1a66 100644
--- a/PythonExample/common.py
+++ b/PythonExample/common.py
@@ -15,6 +15,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import logging
 import os
 import sys
 from pathlib import Path
@@ -26,6 +27,7 @@
 except ImportError:
     tomllib = None
 
+_log = logging.getLogger(__name__)
 _REPO_ROOT = Path(__file__).resolve().parent.parent
 _CANONICAL_CONFIG_ROOT = _REPO_ROOT / "config"
 _PROFILE_ENV = "AMAZINGHAND_PROFILE"
@@ -155,10 +157,16 @@ def load_config_canonical(profile=None, config_root=None):
         return _DEFAULTS.copy()
     with open(profiles_path, "rb") as f:
         data = tomllib.load(f)
-    name = (profile or os.environ.get(_PROFILE_ENV) or "team_julia").strip().lower()
+    name = (profile or os.environ.get(_PROFILE_ENV) or "team_krishan").strip().lower()
+    source = "argument" if profile else ("env " + _PROFILE_ENV if os.environ.get(_PROFILE_ENV) else "default")
     section = data.get("profile", {}).get(name, {})
     if not section:
+        _log.warning(
+            "Profile %r not found in profiles.toml; using defaults. Set %s to a valid profile name.",
+            name, _PROFILE_ENV
+        )
         return _DEFAULTS.copy()
+    print(f"Using profile {name!r} (from {source}). Set {_PROFILE_ENV} to override.")
     out = {
         "port": (section.get("port") or _DEFAULTS["port"]) or "",
         "baudrate": section.get("baudrate", _DEFAULTS["baudrate"]),
diff --git a/README_PKG.md b/README_PKG.md
new file mode 100644
index 0000000..4172248
--- /dev/null
+++ b/README_PKG.md
@@ -0,0 +1,44 @@
+# amazinghand
+
+Python SDK for Amazing Hand robotic hand (Pollen Robotics). Control the hand via named poses and raw angles.
+
+## Install
+
+```bash
+pip install amazinghand
+```
+
+## Quick start
+
+```python
+from amazinghand import AmazingHand, list_poses
+
+print("Available poses:", list_poses())
+hand = AmazingHand(profile="default")
+hand.apply_pose("rock")
+hand.apply_pose("paper")
+hand.apply_pose("scissors")
+```
+
+## Configuration
+
+Set `AMAZINGHAND_CONFIG` to your config directory, or place config under `~/.config/amazinghand` (Linux) / `%LOCALAPPDATA%\amazinghand` (Windows).
+
+Config resolution order:
+
+1. `AMAZINGHAND_CONFIG` env
+2. `config_root` argument to `AmazingHand()`
+3. Repo config when running from source
+4. User config dir
+5. Bundled config (pip-installed)
+
+Environment variables:
+
+- `AMAZINGHAND_CONFIG`: path to directory with `profiles.toml` and `calibration/`
+- `AMAZINGHAND_PROFILE`: profile name (default: `default`)
+
+To add a calibration: copy `calibration/right_hand.toml` to your file, fill in servo IDs and `rest_deg`, add a profile in `profiles.toml`, and reference it via `right_hand_calibration` / `left_hand_calibration`.
+
+## License
+
+Apache 2.0
diff --git a/docs/maintainer.md b/docs/maintainer.md
index d83b39c..631b373 100644
--- a/docs/maintainer.md
+++ b/docs/maintainer.md
@@ -54,4 +54,38 @@ act push
 act pull_request
 ```
 
+## Publishing to PyPI
+
+Build the package:
+
+```bash
+pixi run build-python
+```
+
+Publish to Test PyPI and PyPI:
+
+```bash
+pixi run publish-testpypi
+pixi run publish-pypi
+```
+
+Configure credentials in `~/.pypirc` so twine does not prompt:
+
+```ini
+[distutils]
+index-servers =
+    pypi
+    testpypi
+
+[testpypi]
+repository = https://test.pypi.org/legacy/
+username = __token__
+password = pypi-xxxxxxxx
+
+[pypi]
+username = __token__
+password = pypi-xxxxxxxx
+```
+
+Replace `pypi-xxxxxxxx` with your API token from PyPI account settings. Create separate tokens for Test PyPI and PyPI if needed.
 
diff --git a/pixi.lock b/pixi.lock
index 2bbc1b3..8ac65ee 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -48,6 +48,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.7-hb78ec9c_6.conda
       - pypi: https://files.pythonhosted.org/packages/18/a6/907a406bb7d359e6a63f99c313846d9eec4f7e6f7437809e03aa00fa3074/absl_py-2.4.0-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/3a/2a/7cc015f5b9f5db42b7d48157e23356022889fc354a2813c15934b7cb5c0e/attrs-25.4.0-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/c5/0d/84a4380f930db0010168e0aa7b7a8fed9ba1835a8fbb1472bc6d0201d529/build-1.4.0-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/e6/ad/3cc14f097111b4de0040c83a525973216457bbeeb63739ef1ed275c1c021/certifi-2026.1.4-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/78/2d/7fa73dfa841b5ac06c7b8855cfc18622132e365f5b81d02230333ff26e9e/cffi-2.0.0-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl
       - pypi: https://files.pythonhosted.org/packages/db/3c/33bac158f8ab7f89b2e59426d5fe2e4f63f7ed25df84c036890172b412b5/cfgv-3.5.0-py2.py3-none-any.whl
@@ -55,9 +56,11 @@ environments:
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       - pypi: https://files.pythonhosted.org/packages/c0/76/c4aa9e408dbacee3f4de8e6c5417e5f55de7e62fb5a50300e1233a2c9cb5/commentjson-0.9.0.tar.gz
       - pypi: https://files.pythonhosted.org/packages/cc/8f/ec6289987824b29529d0dfda0d74a07cec60e54b9c92f3c9da4c0ac732de/contourpy-1.3.3-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
+      - pypi: https://files.pythonhosted.org/packages/6b/e7/237155ae19a9023de7e30ec64e5d99a9431a567407ac21170a046d22a5a3/cryptography-46.0.5-cp311-abi3-manylinux_2_28_x86_64.whl
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       - pypi: https://files.pythonhosted.org/packages/97/84/f8a89433fd182a850aa8db9c0cfffc9d2ebf7347b34eb5e203c8488459a2/daqp-0.7.2-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl
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+      - pypi: https://files.pythonhosted.org/packages/02/10/5da547df7a391dcde17f59520a231527b8571e6f46fc8efb02ccb370ab12/docutils-0.22.4-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/1a/af/78aaff4eff5bc850041035673971925ee2650a7ea1173d33ad35bd7d056c/dora_rs-0.3.13-cp37-abi3-manylinux_2_28_x86_64.whl
       - pypi: https://files.pythonhosted.org/packages/da/77/20163e4df61f2c8e9e36619b2e23f4bec073885be46774709b0c58a5159d/dora_rs_cli-0.3.13-cp37-abi3-manylinux_2_28_x86_64.whl
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+      - pypi: https://files.pythonhosted.org/packages/42/77/de194443bf38daed9452139e960c632b0ef9f9a5dd9ce605fdf18ca9f1b1/id-1.6.1-py3-none-any.whl
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+  name: jaraco-classes
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+  - sphinx>=3.5 ; extra == 'docs'
+  - jaraco-packaging>=9.3 ; extra == 'docs'
+  - rst-linker>=1.9 ; extra == 'docs'
+  - furo ; extra == 'docs'
+  - sphinx-lint ; extra == 'docs'
+  - jaraco-tidelift>=1.4 ; extra == 'docs'
+  - pytest>=6 ; extra == 'testing'
+  - pytest-checkdocs>=2.4 ; extra == 'testing'
+  - pytest-cov ; extra == 'testing'
+  - pytest-mypy ; extra == 'testing'
+  - pytest-enabler>=2.2 ; extra == 'testing'
+  - pytest-ruff>=0.2.1 ; extra == 'testing'
+  requires_python: '>=3.8'
+- pypi: https://files.pythonhosted.org/packages/8d/48/aa685dbf1024c7bd82bede569e3a85f82c32fd3d79ba5fea578f0159571a/jaraco_context-6.1.0-py3-none-any.whl
+  name: jaraco-context
+  version: 6.1.0
+  sha256: a43b5ed85815223d0d3cfdb6d7ca0d2bc8946f28f30b6f3216bda070f68badda
+  requires_dist:
+  - backports-tarfile ; python_full_version < '3.12'
+  - pytest>=6,!=8.1.* ; extra == 'test'
+  - jaraco-test>=5.6.0 ; extra == 'test'
+  - portend ; extra == 'test'
+  - sphinx>=3.5 ; extra == 'doc'
+  - jaraco-packaging>=9.3 ; extra == 'doc'
+  - rst-linker>=1.9 ; extra == 'doc'
+  - furo ; extra == 'doc'
+  - sphinx-lint ; extra == 'doc'
+  - jaraco-tidelift>=1.4 ; extra == 'doc'
+  - pytest-checkdocs>=2.4 ; extra == 'check'
+  - pytest-ruff>=0.2.1 ; sys_platform != 'cygwin' and extra == 'check'
+  - pytest-cov ; extra == 'cover'
+  - pytest-enabler>=3.4 ; extra == 'enabler'
+  - pytest-mypy>=1.0.1 ; extra == 'type'
+  - mypy<1.19 ; platform_python_implementation == 'PyPy' and extra == 'type'
+  requires_python: '>=3.9'
+- pypi: https://files.pythonhosted.org/packages/fd/c4/813bb09f0985cb21e959f21f2464169eca882656849adf727ac7bb7e1767/jaraco_functools-4.4.0-py3-none-any.whl
+  name: jaraco-functools
+  version: 4.4.0
+  sha256: 9eec1e36f45c818d9bf307c8948eb03b2b56cd44087b3cdc989abca1f20b9176
+  requires_dist:
+  - more-itertools
+  - pytest>=6,!=8.1.* ; extra == 'test'
+  - jaraco-classes ; extra == 'test'
+  - sphinx>=3.5 ; extra == 'doc'
+  - jaraco-packaging>=9.3 ; extra == 'doc'
+  - rst-linker>=1.9 ; extra == 'doc'
+  - furo ; extra == 'doc'
+  - sphinx-lint ; extra == 'doc'
+  - jaraco-tidelift>=1.4 ; extra == 'doc'
+  - pytest-checkdocs>=2.4 ; extra == 'check'
+  - pytest-ruff>=0.2.1 ; sys_platform != 'cygwin' and extra == 'check'
+  - pytest-cov ; extra == 'cover'
+  - pytest-enabler>=3.4 ; extra == 'enabler'
+  - pytest-mypy>=1.0.1 ; extra == 'type'
+  - mypy<1.19 ; platform_python_implementation == 'PyPy' and extra == 'type'
+  requires_python: '>=3.9'
 - pypi: https://files.pythonhosted.org/packages/57/1e/63ac22ec535e08129e16cb71b7eeeb8816c01d627ea1bc9105e925a71da0/jax-0.9.0.1-py3-none-any.whl
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@@ -1323,6 +1562,19 @@ packages:
   - numpy>=2.0
   - ml-dtypes>=0.5.0
   requires_python: '>=3.11'
+- pypi: https://files.pythonhosted.org/packages/b2/a3/e137168c9c44d18eff0376253da9f1e9234d0239e0ee230d2fee6cea8e55/jeepney-0.9.0-py3-none-any.whl
+  name: jeepney
+  version: 0.9.0
+  sha256: 97e5714520c16fc0a45695e5365a2e11b81ea79bba796e26f9f1d178cb182683
+  requires_dist:
+  - pytest ; extra == 'test'
+  - pytest-trio ; extra == 'test'
+  - pytest-asyncio>=0.17 ; extra == 'test'
+  - testpath ; extra == 'test'
+  - trio ; extra == 'test'
+  - async-timeout ; python_full_version < '3.11' and extra == 'test'
+  - trio ; extra == 'trio'
+  requires_python: '>=3.7'
 - conda: https://conda.anaconda.org/conda-forge/noarch/kernel-headers_linux-64-4.18.0-he073ed8_9.conda
   sha256: 41557eeadf641de6aeae49486cef30d02a6912d8da98585d687894afd65b356a
   md5: 86d9cba083cd041bfbf242a01a7a1999
@@ -1343,6 +1595,36 @@ packages:
   purls: []
   size: 1248134
   timestamp: 1765578613607
+- pypi: https://files.pythonhosted.org/packages/81/db/e655086b7f3a705df045bf0933bdd9c2f79bb3c97bfef1384598bb79a217/keyring-25.7.0-py3-none-any.whl
+  name: keyring
+  version: 25.7.0
+  sha256: be4a0b195f149690c166e850609a477c532ddbfbaed96a404d4e43f8d5e2689f
+  requires_dist:
+  - pywin32-ctypes>=0.2.0 ; sys_platform == 'win32'
+  - secretstorage>=3.2 ; sys_platform == 'linux'
+  - jeepney>=0.4.2 ; sys_platform == 'linux'
+  - importlib-metadata>=4.11.4 ; python_full_version < '3.12'
+  - jaraco-classes
+  - jaraco-functools
+  - jaraco-context
+  - pytest>=6,!=8.1.* ; extra == 'test'
+  - pyfakefs ; extra == 'test'
+  - sphinx>=3.5 ; extra == 'doc'
+  - jaraco-packaging>=9.3 ; extra == 'doc'
+  - rst-linker>=1.9 ; extra == 'doc'
+  - furo ; extra == 'doc'
+  - sphinx-lint ; extra == 'doc'
+  - jaraco-tidelift>=1.4 ; extra == 'doc'
+  - pytest-checkdocs>=2.4 ; extra == 'check'
+  - pytest-ruff>=0.2.1 ; sys_platform != 'cygwin' and extra == 'check'
+  - pytest-cov ; extra == 'cover'
+  - pytest-enabler>=3.4 ; extra == 'enabler'
+  - pytest-mypy>=1.0.1 ; extra == 'type'
+  - pygobject-stubs ; extra == 'type'
+  - shtab ; extra == 'type'
+  - types-pywin32 ; extra == 'type'
+  - shtab>=1.1.0 ; extra == 'completion'
+  requires_python: '>=3.9'
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   name: kiwisolver
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   sha256: 482f720f409e05dfca8b7b63df180217afa9a51564def681853cb7370a020b74
   requires_python: '>=3.8'
+- pypi: https://files.pythonhosted.org/packages/94/54/e7d793b573f298e1c9013b8c4dade17d481164aa517d1d7148619c2cedbf/markdown_it_py-4.0.0-py3-none-any.whl
+  name: markdown-it-py
+  version: 4.0.0
+  sha256: 87327c59b172c5011896038353a81343b6754500a08cd7a4973bb48c6d578147
+  requires_dist:
+  - mdurl~=0.1
+  - psutil ; extra == 'benchmarking'
+  - pytest ; extra == 'benchmarking'
+  - pytest-benchmark ; extra == 'benchmarking'
+  - commonmark~=0.9 ; extra == 'compare'
+  - markdown~=3.4 ; extra == 'compare'
+  - mistletoe~=1.0 ; extra == 'compare'
+  - mistune~=3.0 ; extra == 'compare'
+  - panflute~=2.3 ; extra == 'compare'
+  - markdown-it-pyrs ; extra == 'compare'
+  - linkify-it-py>=1,<3 ; extra == 'linkify'
+  - mdit-py-plugins>=0.5.0 ; extra == 'plugins'
+  - gprof2dot ; extra == 'profiling'
+  - mdit-py-plugins>=0.5.0 ; extra == 'rtd'
+  - myst-parser ; extra == 'rtd'
+  - pyyaml ; extra == 'rtd'
+  - sphinx ; extra == 'rtd'
+  - sphinx-copybutton ; extra == 'rtd'
+  - sphinx-design ; extra == 'rtd'
+  - sphinx-book-theme~=1.0 ; extra == 'rtd'
+  - jupyter-sphinx ; extra == 'rtd'
+  - ipykernel ; extra == 'rtd'
+  - coverage ; extra == 'testing'
+  - pytest ; extra == 'testing'
+  - pytest-cov ; extra == 'testing'
+  - pytest-regressions ; extra == 'testing'
+  - requests ; extra == 'testing'
+  requires_python: '>=3.10'
 - pypi: https://files.pythonhosted.org/packages/00/f9/7638f5cc82ec8a7aa005de48622eecc3ed7c9854b96ba15bd76b7fd27574/matplotlib-3.10.8-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl
   name: matplotlib
   version: 3.10.8
@@ -1923,6 +2238,11 @@ packages:
   - setuptools-scm>=7 ; extra == 'dev'
   - setuptools>=64 ; extra == 'dev'
   requires_python: '>=3.10'
+- pypi: https://files.pythonhosted.org/packages/b3/38/89ba8ad64ae25be8de66a6d463314cf1eb366222074cfda9ee839c56a4b4/mdurl-0.1.2-py3-none-any.whl
+  name: mdurl
+  version: 0.1.2
+  sha256: 84008a41e51615a49fc9966191ff91509e3c40b939176e643fd50a5c2196b8f8
+  requires_python: '>=3.7'
 - pypi: https://files.pythonhosted.org/packages/11/73/07c6dcbb322f86e2b8526e0073456dbdd2813d5351f772f882123c985fda/mediapipe-0.10.14-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
   name: mediapipe
   version: 0.10.14
@@ -2083,6 +2403,11 @@ packages:
   - pylint>=2.6.0 ; extra == 'dev'
   - pyink ; extra == 'dev'
   requires_python: '>=3.9'
+- pypi: https://files.pythonhosted.org/packages/a4/8e/469e5a4a2f5855992e425f3cb33804cc07bf18d48f2db061aec61ce50270/more_itertools-10.8.0-py3-none-any.whl
+  name: more-itertools
+  version: 10.8.0
+  sha256: 52d4362373dcf7c52546bc4af9a86ee7c4579df9a8dc268be0a2f949d376cc9b
+  requires_python: '>=3.9'
 - pypi: https://files.pythonhosted.org/packages/02/37/527d83610b878f27c01dd762e0e41aaa62f095c607f0500ac7f724a2c7a5/mujoco-3.5.0-cp312-cp312-win_amd64.whl
   name: mujoco
   version: 3.5.0
@@ -2203,6 +2528,26 @@ packages:
   purls: []
   size: 797030
   timestamp: 1738196177597
+- pypi: https://files.pythonhosted.org/packages/13/3e/aef8cf8e0419b530c95e96ae93a5078e9b36c1e6613eeb1df03a80d5194e/nh3-0.3.3-cp38-abi3-macosx_10_12_x86_64.macosx_11_0_arm64.macosx_10_12_universal2.whl
+  name: nh3
+  version: 0.3.3
+  sha256: e8ee96156f7dfc6e30ecda650e480c5ae0a7d38f0c6fafc3c1c655e2500421d9
+  requires_python: '>=3.8'
+- pypi: https://files.pythonhosted.org/packages/6f/84/c0dc75c7fb596135f999e59a410d9f45bdabb989f1cb911f0016d22b747b/nh3-0.3.3-cp38-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
+  name: nh3
+  version: 0.3.3
+  sha256: e98fa3dbfd54e25487e36ba500bc29bca3a4cab4ffba18cfb1a35a2d02624297
+  requires_python: '>=3.8'
+- pypi: https://files.pythonhosted.org/packages/73/88/1ce287ef8649dc51365b5094bd3713b76454838140a32ab4f8349973883c/nh3-0.3.3-cp38-abi3-win_amd64.whl
+  name: nh3
+  version: 0.3.3
+  sha256: 2efd17c0355d04d39e6d79122b42662277ac10a17ea48831d90b46e5ef7e4fc0
+  requires_python: '>=3.8'
+- pypi: https://files.pythonhosted.org/packages/ca/43/d2011a4f6c0272cb122eeff40062ee06bb2b6e57eabc3a5e057df0d582df/nh3-0.3.3-cp38-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl
+  name: nh3
+  version: 0.3.3
+  sha256: 45fe0d6a607264910daec30360c8a3b5b1500fd832d21b2da608256287bcb92d
+  requires_python: '>=3.8'
 - pypi: https://files.pythonhosted.org/packages/88/b2/d0896bdcdc8d28a7fc5717c305f1a861c26e18c05047949fb371034d98bd/nodeenv-1.10.0-py2.py3-none-any.whl
   name: nodeenv
   version: 1.10.0
@@ -2631,6 +2976,17 @@ packages:
   - railroad-diagrams ; extra == 'diagrams'
   - jinja2 ; extra == 'diagrams'
   requires_python: '>=3.9'
+- pypi: https://files.pythonhosted.org/packages/bd/24/12818598c362d7f300f18e74db45963dbcb85150324092410c8b49405e42/pyproject_hooks-1.2.0-py3-none-any.whl
+  name: pyproject-hooks
+  version: 1.2.0
+  sha256: 9e5c6bfa8dcc30091c74b0cf803c81fdd29d94f01992a7707bc97babb1141913
+  requires_python: '>=3.7'
+- pypi: https://files.pythonhosted.org/packages/07/bc/587a445451b253b285629263eb51c2d8e9bcea4fc97826266d186f96f558/pyserial-3.5-py2.py3-none-any.whl
+  name: pyserial
+  version: '3.5'
+  sha256: c4451db6ba391ca6ca299fb3ec7bae67a5c55dde170964c7a14ceefec02f2cf0
+  requires_dist:
+  - hidapi ; extra == 'cp2110'
 - pypi: https://files.pythonhosted.org/packages/3b/ab/b3226f0bd7cdcf710fbede2b3548584366da3b19b5021e74f5bde2a8fa3f/pytest-9.0.2-py3-none-any.whl
   name: pytest
   version: 9.0.2
@@ -2789,6 +3145,11 @@ packages:
   - mypy-ipython ; extra == 'tests'
   - blessings ; extra == 'tests'
   requires_python: '>=3.9.0'
+- pypi: https://files.pythonhosted.org/packages/de/3d/8161f7711c017e01ac9f008dfddd9410dff3674334c233bde66e7ba65bbf/pywin32_ctypes-0.2.3-py3-none-any.whl
+  name: pywin32-ctypes
+  version: 0.2.3
+  sha256: 8a1513379d709975552d202d942d9837758905c8d01eb82b8bcc30918929e7b8
+  requires_python: '>=3.6'
 - pypi: https://files.pythonhosted.org/packages/86/bf/899e81e4cce32febab4fb42bb97dcdf66bc135272882d1987881a4b519e9/pyyaml-6.0.3-cp312-cp312-win_amd64.whl
   name: pyyaml
   version: 6.0.3
@@ -2899,6 +3260,16 @@ packages:
   purls: []
   size: 313930
   timestamp: 1765813902568
+- pypi: https://files.pythonhosted.org/packages/e1/67/921ec3024056483db83953ae8e48079ad62b92db7880013ca77632921dd0/readme_renderer-44.0-py3-none-any.whl
+  name: readme-renderer
+  version: '44.0'
+  sha256: 2fbca89b81a08526aadf1357a8c2ae889ec05fb03f5da67f9769c9a592166151
+  requires_dist:
+  - nh3>=0.2.14
+  - docutils>=0.21.2
+  - pygments>=2.5.1
+  - cmarkgfm>=0.8.0 ; extra == 'md'
+  requires_python: '>=3.9'
 - pypi: https://files.pythonhosted.org/packages/1e/db/4254e3eabe8020b458f1a747140d32277ec7a271daf1d235b70dc0b4e6e3/requests-2.32.5-py3-none-any.whl
   name: requests
   version: 2.32.5
@@ -2911,6 +3282,29 @@ packages:
   - pysocks>=1.5.6,!=1.5.7 ; extra == 'socks'
   - chardet>=3.0.2,<6 ; extra == 'use-chardet-on-py3'
   requires_python: '>=3.9'
+- pypi: https://files.pythonhosted.org/packages/3f/51/d4db610ef29373b879047326cbf6fa98b6c1969d6f6dc423279de2b1be2c/requests_toolbelt-1.0.0-py2.py3-none-any.whl
+  name: requests-toolbelt
+  version: 1.0.0
+  sha256: cccfdd665f0a24fcf4726e690f65639d272bb0637b9b92dfd91a5568ccf6bd06
+  requires_dist:
+  - requests>=2.0.1,<3.0.0
+  requires_python: '>=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*'
+- pypi: https://files.pythonhosted.org/packages/ff/9a/9afaade874b2fa6c752c36f1548f718b5b83af81ed9b76628329dab81c1b/rfc3986-2.0.0-py2.py3-none-any.whl
+  name: rfc3986
+  version: 2.0.0
+  sha256: 50b1502b60e289cb37883f3dfd34532b8873c7de9f49bb546641ce9cbd256ebd
+  requires_dist:
+  - idna ; extra == 'idna2008'
+  requires_python: '>=3.7'
+- pypi: https://files.pythonhosted.org/packages/14/25/b208c5683343959b670dc001595f2f3737e051da617f66c31f7c4fa93abc/rich-14.3.3-py3-none-any.whl
+  name: rich
+  version: 14.3.3
+  sha256: 793431c1f8619afa7d3b52b2cdec859562b950ea0d4b6b505397612db8d5362d
+  requires_dist:
+  - ipywidgets>=7.5.1,<9 ; extra == 'jupyter'
+  - markdown-it-py>=2.2.0
+  - pygments>=2.13.0,<3.0.0
+  requires_python: '>=3.8.0'
 - conda: https://conda.anaconda.org/conda-forge/linux-64/rust-1.93.1-h53717f1_0.conda
   sha256: 21e067aabf5863eee02fc5681a6d56de888abea6eaa521abf756b707c0dbcd39
   md5: f05b79be5b5f13fecc79af60892bb1c4
@@ -3212,6 +3606,14 @@ packages:
   - ruff>=0.12.0 ; extra == 'dev'
   - cython-lint>=0.12.2 ; extra == 'dev'
   requires_python: '>=3.11'
+- pypi: https://files.pythonhosted.org/packages/b7/46/f5af3402b579fd5e11573ce652019a67074317e18c1935cc0b4ba9b35552/secretstorage-3.5.0-py3-none-any.whl
+  name: secretstorage
+  version: 3.5.0
+  sha256: 0ce65888c0725fcb2c5bc0fdb8e5438eece02c523557ea40ce0703c266248137
+  requires_dist:
+  - cryptography>=2.0
+  - jeepney>=0.6
+  requires_python: '>=3.10'
 - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-82.0.0-pyh332efcf_0.conda
   sha256: fd7201e38e38bf7f25818d624ca8da97b8998957ca9ae3fb7fdc9c17e6b25fcd
   md5: 1d00d46c634177fc8ede8b99d6089239
@@ -3333,6 +3735,23 @@ packages:
   requires_dist:
   - numpy>=1.15
   requires_python: '>=3.6'
+- pypi: https://files.pythonhosted.org/packages/3a/7a/882d99539b19b1490cac5d77c67338d126e4122c8276bf640e411650c830/twine-6.2.0-py3-none-any.whl
+  name: twine
+  version: 6.2.0
+  sha256: 418ebf08ccda9a8caaebe414433b0ba5e25eb5e4a927667122fbe8f829f985d8
+  requires_dist:
+  - readme-renderer>=35.0
+  - requests>=2.20
+  - requests-toolbelt>=0.8.0,!=0.9.0
+  - urllib3>=1.26.0
+  - importlib-metadata>=3.6 ; python_full_version < '3.10'
+  - keyring>=21.2.0 ; platform_machine != 'ppc64le' and platform_machine != 's390x'
+  - rfc3986>=1.4.0
+  - rich>=12.0.0
+  - packaging>=24.0
+  - id
+  - keyring>=21.2.0 ; extra == 'keyring'
+  requires_python: '>=3.9'
 - pypi: https://files.pythonhosted.org/packages/18/67/36e9267722cc04a6b9f15c7f3441c2363321a3ea07da7ae0c0707beb2a9c/typing_extensions-4.15.0-py3-none-any.whl
   name: typing-extensions
   version: 4.15.0
diff --git a/pixi.toml b/pixi.toml
index f7a784c..70d8832 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -26,6 +26,8 @@ numpy = ">=1.20"
 rustypot = "*"
 pytest = "*"
 pre-commit = "*"
+build = "*"
+twine = "*"
 # Demo/HandTracking, Demo/AHSimulation
 opencv-python = ">=4.8.0"
 mediapipe = ">=0.10.14,<=0.10.15"
@@ -36,6 +38,7 @@ mink = ">=0.0.11"
 mujoco = ">=3.3.2"
 onshape-to-robot = ">=1.7.5"
 qpsolvers = { version = ">=4.7.1", extras = ["quadprog"] }
+pyserial = ">=3.5"
 
 [tasks]
 
@@ -44,11 +47,20 @@ qpsolvers = { version = ">=4.7.1", extras = ["quadprog"] }
 test-python-example = "cd PythonExample && PYTHONPATH= python -m pytest tests/ -v"
 test-demo = "cd Demo && python -m pytest tests/ -v"
 test-ahcontrol = "cargo test --manifest-path Demo/Cargo.toml -p AHControl"
+test-sdk = "python -m pytest tests/ -v"
 
 # build related
 build-ahcontrol = "cargo build --release --manifest-path Demo/Cargo.toml -p AHControl"
+build-python = "python -m build"
+
+# publish (set TWINE_USERNAME and TWINE_PASSWORD or use --password from prompt)
+publish-testpypi = "python -m build && twine upload --repository testpypi dist/*"
+publish-pypi = "python -m build && twine upload dist/*"
 
 # dora demos (run from repo root; when used as submodule, use path from parent repo)
 dora-build-angle-simu = "dora build Demo/dataflow_angle_simu.yml"
 dora-run-angle-simu = "dora run Demo/dataflow_angle_simu.yml"
 
+# Device check (webcam indices, serial ports) before running demos
+check-devices = "python Demo/scripts/check_devices.py"
+
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000..73bff93
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,38 @@
+[build-system]
+requires = ["setuptools>=61.0", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "amazinghand"
+version = "0.1.0"
+description = "SDK for Amazing Hand robotic hand (hardware-fork org)"
+readme = "README_PKG.md"
+license = { text = "Apache-2.0" }
+requires-python = ">=3.12"
+authors = [{ name = "Julia Jia" }, { name = "Krishan Bhakta" }]
+keywords = ["robotics", "hand", "servo", "pollen"]
+classifiers = [
+    "Development Status :: 3 - Alpha",
+    "License :: OSI Approved :: Apache Software License",
+    "Programming Language :: Python :: 3",
+    "Programming Language :: Python :: 3.12",
+]
+dependencies = [
+    "numpy>=1.20",
+    "rustypot",
+]
+
+[project.optional-dependencies]
+dev = ["pytest>=7.0"]
+
+[project.urls]
+Repository = "https://github.com/hardware-fork/AmazingHand"
+
+[tool.setuptools.packages.find]
+where = ["src"]
+
+[tool.pytest.ini_options]
+pythonpath = ["src"]
+
+[tool.setuptools.package-data]
+amazinghand = ["config/*.toml", "config/calibration/*.toml"]
diff --git a/src/amazinghand/__init__.py b/src/amazinghand/__init__.py
new file mode 100644
index 0000000..49649e9
--- /dev/null
+++ b/src/amazinghand/__init__.py
@@ -0,0 +1,22 @@
+# Copyright (C) 2026 Julia Jia
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Amazing Hand SDK - control robotic hand poses and gestures."""
+
+from amazinghand.client import AmazingHand
+from amazinghand.config import get_config_root, load_config
+from amazinghand.poses import list_poses
+
+__all__ = ["AmazingHand", "load_config", "get_config_root", "list_poses"]
+__version__ = "0.1.0"
diff --git a/src/amazinghand/client.py b/src/amazinghand/client.py
new file mode 100644
index 0000000..3d8d895
--- /dev/null
+++ b/src/amazinghand/client.py
@@ -0,0 +1,144 @@
+# Code derived from Pollen Robotics AmazingHand.
+# See: https://github.com/pollen-robotics/AmazingHand
+# Copyright (C) 2026 Julia Jia
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""AmazingHand client - high-level API for pose and gesture control."""
+
+import time
+from pathlib import Path
+from typing import Any
+
+import numpy as np
+from rustypot import Scs0009PyController
+
+from amazinghand.config import get_config_root, get_hand_config, load_config
+from amazinghand.poses import HAND_LEFT, HAND_RIGHT, get_pose, list_poses
+
+_INTER_SERVO_DELAY = 0.0002
+_POST_MOVE_DELAY = 0.005
+
+
+def _default_port() -> str:
+    import sys
+    return "COM3" if sys.platform == "win32" else "/dev/ttyUSB0"
+
+
+class AmazingHand:
+    """Control Amazing Hand robotic hand via named poses and raw angles.
+
+    Configuration:
+        profile: config profile name (default from AMAZINGHAND_PROFILE or 'default')
+        config_root: path to config directory (default from AMAZINGHAND_CONFIG or auto-detect)
+        side: 1 = right hand, 2 = left hand (default from profile)
+
+    Example:
+        hand = AmazingHand(profile="default")
+        hand.apply_pose("rock")
+        hand.apply_pose("paper")
+    """
+
+    def __init__(
+        self,
+        profile: str | None = None,
+        config_root: str | Path | None = None,
+        side: int | None = None,
+    ):
+        self._config_root = get_config_root(config_root)
+        self._cfg = load_config(profile=profile, config_root=self._config_root)
+        self._side = side or self._cfg.get("hand_test_id") or self._cfg.get("side") or HAND_LEFT
+        self._hand = get_hand_config(self._cfg, self._side)
+        self._servo_ids = self._hand["servo_ids"]
+        self._middle_pos = self._hand["middle_pos"]
+        self._max_speed = self._cfg.get("max_speed", 7)
+        self._close_speed = self._cfg.get("close_speed", 3)
+
+        port = self._cfg.get("port") or _default_port()
+        self._controller: Scs0009PyController = Scs0009PyController(
+            serial_port=port,
+            baudrate=self._cfg["baudrate"],
+            timeout=self._cfg.get("timeout", 0.5),
+        )
+        self._controller.write_torque_enable(self._servo_ids[0], 1)
+
+    @property
+    def side(self) -> int:
+        """1 = right, 2 = left."""
+        return self._side
+
+    def apply_pose(self, name: str, speed: float | None = None) -> None:
+        """Apply a named pose (e.g. 'rock', 'paper', 'scissors', 'ready')."""
+        pose = get_pose(name, self._side)
+        sp = speed if speed is not None else self._max_speed
+        if name.lower() == "close" or name.lower() == "rock":
+            for finger_idx, (a1, a2) in enumerate(pose):
+                s = self._close_speed + 1 if finger_idx == 3 else self._close_speed
+                self._move_finger(finger_idx, a1, a2, s)
+        else:
+            for finger_idx, (a1, a2) in enumerate(pose):
+                self._move_finger(finger_idx, a1, a2, sp)
+
+    def apply_pose_target(self, angles: list[float] | list[tuple[float, float]], speed: float | None = None) -> None:
+        """Apply raw joint angles. angles: 8 floats (rad or deg) or 4 (a1,a2) tuples in degrees."""
+        sp = speed if speed is not None else self._max_speed
+        if len(angles) == 4 and isinstance(angles[0], (tuple, list)):
+            pose = [(float(a1), float(a2)) for a1, a2 in angles]
+        elif len(angles) == 8:
+            pose = [(angles[i], angles[i + 1]) for i in range(0, 8, 2)]
+        else:
+            raise ValueError("angles must be 8 floats or 4 (a1,a2) tuples")
+        for finger_idx, (a1, a2) in enumerate(pose):
+            self._move_finger(finger_idx, a1, a2, sp)
+
+    def _move_finger(self, finger_idx: int, angle_1_deg: float, angle_2_deg: float, speed: float) -> None:
+        i, j = 2 * finger_idx, 2 * finger_idx + 1
+        self._controller.write_goal_speed(self._servo_ids[i], speed)
+        time.sleep(_INTER_SERVO_DELAY)
+        self._controller.write_goal_speed(self._servo_ids[j], speed)
+        time.sleep(_INTER_SERVO_DELAY)
+        self._controller.write_goal_position(
+            self._servo_ids[i], np.deg2rad(self._middle_pos[i] + angle_1_deg)
+        )
+        self._controller.write_goal_position(
+            self._servo_ids[j], np.deg2rad(self._middle_pos[j] + angle_2_deg)
+        )
+        time.sleep(_POST_MOVE_DELAY)
+
+    def torque_enable(self, enable: bool = True) -> None:
+        """Enable (True) or disable (False) motors. Use disable when moving hand manually."""
+        val = 1 if enable else 2
+        for sid in self._servo_ids:
+            self._controller.write_torque_enable(sid, val)
+
+    def read_positions(self) -> list[float]:
+        """Return current joint positions in degrees (8 values, relative to middle)."""
+        degs = []
+        for i, sid in enumerate(self._servo_ids):
+            rad = self._controller.read_present_position(sid)
+            degs.append(np.rad2deg(rad) - self._middle_pos[i])
+        return degs
+
+    def list_poses(self) -> list[str]:
+        """Return available pose names."""
+        return list_poses()
+
+    def close(self) -> None:
+        """Release resources. Call when done or use as context manager."""
+        pass
+
+    def __enter__(self) -> "AmazingHand":
+        return self
+
+    def __exit__(self, *args: Any) -> None:
+        self.close()
diff --git a/src/amazinghand/config.py b/src/amazinghand/config.py
new file mode 100644
index 0000000..9891825
--- /dev/null
+++ b/src/amazinghand/config.py
@@ -0,0 +1,180 @@
+# Copyright (C) 2026 Julia Jia
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Configuration loading with fallback for pip-installed package."""
+
+import os
+from pathlib import Path
+
+try:
+    import tomllib
+except ImportError:
+    tomllib = None
+
+_CONFIG_ENV = "AMAZINGHAND_CONFIG"
+_PROFILE_ENV = "AMAZINGHAND_PROFILE"
+_FINGER_ORDER = ("index", "middle", "ring", "thumb")
+
+_DEFAULTS = {
+    "port": "",
+    "baudrate": 1000000,
+    "timeout": 0.5,
+}
+
+
+def _user_config_dir() -> Path:
+    """Platform-specific user config directory."""
+    if os.name == "nt":
+        base = os.environ.get("LOCALAPPDATA", os.path.expanduser("~"))
+    else:
+        base = os.environ.get("XDG_CONFIG_HOME", os.path.expanduser("~/.config"))
+    return Path(base) / "amazinghand"
+
+
+def get_config_root(config_root=None) -> Path:
+    """Resolve config directory. Order: env AMAZINGHAND_CONFIG > arg > repo > user config > bundled."""
+    if config_root is not None:
+        return Path(config_root)
+    env_path = os.environ.get(_CONFIG_ENV)
+    if env_path:
+        return Path(env_path)
+    pkg_dir = Path(__file__).resolve().parent
+    repo_config = pkg_dir.parent.parent / "config"
+    if (repo_config / "profiles.toml").exists():
+        return repo_config
+    user_config = _user_config_dir()
+    if (user_config / "profiles.toml").exists():
+        return user_config
+    try:
+        from importlib.resources import files
+        bundled = files("amazinghand") / "config"
+        if bundled.joinpath("profiles.toml").exists():
+            return Path(str(bundled))
+    except (ImportError, TypeError):
+        pass
+    return user_config
+
+
+def _default_serial_port() -> str:
+    import sys
+    return "COM3" if sys.platform == "win32" else "/dev/ttyUSB0"
+
+
+def _load_hand_geometry(root: Path) -> tuple | None:
+    if tomllib is None:
+        return None
+    path = root / "hand_geometry.toml"
+    if not path.exists():
+        return None
+    with open(path, "rb") as f:
+        data = tomllib.load(f)
+    fingers = data.get("fingers")
+    if isinstance(fingers, list) and len(fingers) >= 4:
+        return tuple(str(x) for x in fingers[:4])
+    return None
+
+
+def _load_calibration(name: str, root: Path) -> dict | None:
+    if not name or tomllib is None:
+        return None
+    path = root / "calibration" / f"{name}.toml"
+    if not path.exists():
+        return None
+    with open(path, "rb") as f:
+        return tomllib.load(f)
+
+
+def _calibration_to_hand_flat(cal: dict, hand_prefix: str, finger_order: tuple) -> dict:
+    out = {}
+    for name in finger_order:
+        section = cal.get(name, {})
+        ids = section.get("ids", [0, 0])[:2]
+        rest = section.get("rest_deg", [0, 0])[:2]
+        out[f"{hand_prefix}_{name}_servo_ids"] = ids if len(ids) == 2 else [0, 0]
+        out[f"{hand_prefix}_{name}_middle_pos"] = rest if len(rest) == 2 else [0, 0]
+    return out
+
+
+def load_config(profile=None, config_root=None) -> dict:
+    """Load config (profiles + calibration). Returns dict with port, baudrate, hand_* keys.
+
+    Config resolution:
+    1. AMAZINGHAND_CONFIG env: path to config directory
+    2. config_root argument
+    3. Repo config/ (when run from source)
+    4. User config dir (~/.config/amazinghand or %LOCALAPPDATA%\\amazinghand)
+    5. Bundled config (when pip-installed)
+
+    Profile: AMAZINGHAND_PROFILE env or 'default'.
+    """
+    root = get_config_root(config_root)
+    if not (root / "profiles.toml").exists() or tomllib is None:
+        return _DEFAULTS.copy()
+
+    with open(root / "profiles.toml", "rb") as f:
+        data = tomllib.load(f)
+
+    name = (profile or os.environ.get(_PROFILE_ENV) or "default").strip().lower()
+    section = data.get("profile", {}).get(name, {})
+    if not section:
+        return _DEFAULTS.copy()
+
+    out = {
+        "port": (section.get("port") or _DEFAULTS["port"]) or "",
+        "baudrate": section.get("baudrate", _DEFAULTS["baudrate"]),
+        "timeout": section.get("timeout", _DEFAULTS["timeout"]),
+    }
+    for k, v in section.items():
+        if k not in out:
+            out[k] = v
+
+    finger_order = _load_hand_geometry(root) or _FINGER_ORDER
+    for hand_prefix, cal_name in [
+        ("hand_1", section.get("right_hand_calibration", "")),
+        ("hand_2", section.get("left_hand_calibration", "")),
+    ]:
+        cal = _load_calibration(cal_name, root)
+        if cal:
+            out.update(_calibration_to_hand_flat(cal, hand_prefix, finger_order))
+        else:
+            for n in finger_order:
+                out[f"{hand_prefix}_{n}_servo_ids"] = [0, 0]
+                out[f"{hand_prefix}_{n}_middle_pos"] = [0, 0]
+
+    return out
+
+
+def get_hand_config(cfg: dict, side: int) -> dict:
+    """Return servo_ids, middle_pos, side for one hand. Raises ValueError if not configured."""
+    prefix = "hand_1" if side == 1 else "hand_2"
+    servo_ids = []
+    middle_pos = []
+    for name in _FINGER_ORDER:
+        ids = cfg.get(f"{prefix}_{name}_servo_ids", [])
+        mid = cfg.get(f"{prefix}_{name}_middle_pos", [])
+        servo_ids.extend(ids if len(ids) == 2 else [0, 0])
+        middle_pos.extend(mid if len(mid) == 2 else [0, 0])
+
+    if len(servo_ids) != 8 or len(middle_pos) != 8:
+        raise ValueError(
+            f"config must define {prefix}_*_servo_ids and {prefix}_*_middle_pos "
+            f"for index, middle, ring, thumb (8 each); got {len(servo_ids)} ids"
+        )
+    if all(s == 0 for s in servo_ids):
+        hand_name = "right" if side == 1 else "left"
+        raise ValueError(
+            f"{prefix} ({hand_name} hand) not configured. "
+            f"Set AMAZINGHAND_PROFILE and ensure calibration exists, or use config_root."
+        )
+    return {"servo_ids": servo_ids, "middle_pos": middle_pos, "side": side}
diff --git a/src/amazinghand/config/calibration/right_hand.toml b/src/amazinghand/config/calibration/right_hand.toml
new file mode 100644
index 0000000..1bf006f
--- /dev/null
+++ b/src/amazinghand/config/calibration/right_hand.toml
@@ -0,0 +1,18 @@
+# Right hand calibration template. Copy to left_hand.toml for left hand.
+# Reference from profiles.toml via right_hand_calibration / left_hand_calibration.
+
+[index]
+ids = [1, 2]
+rest_deg = [0, 0]
+
+[middle]
+ids = [3, 4]
+rest_deg = [0, 0]
+
+[ring]
+ids = [5, 6]
+rest_deg = [0, 0]
+
+[thumb]
+ids = [7, 8]
+rest_deg = [0, 0]
diff --git a/src/amazinghand/config/hand_geometry.toml b/src/amazinghand/config/hand_geometry.toml
new file mode 100644
index 0000000..8eae51b
--- /dev/null
+++ b/src/amazinghand/config/hand_geometry.toml
@@ -0,0 +1 @@
+fingers = ["index", "middle", "ring", "thumb"]
diff --git a/src/amazinghand/config/profiles.toml b/src/amazinghand/config/profiles.toml
new file mode 100644
index 0000000..04fe0ef
--- /dev/null
+++ b/src/amazinghand/config/profiles.toml
@@ -0,0 +1,16 @@
+# Bundled default profile. Override with AMAZINGHAND_CONFIG or config_root.
+# Set AMAZINGHAND_PROFILE to select profile (default: default).
+# Add calibration files under calibration/ and reference them below.
+
+[profile.default]
+right_hand_calibration = "right_hand"
+left_hand_calibration = ""
+port = ""
+baudrate = 1000000
+timeout = 0.5
+side = 1
+max_speed = 7
+close_speed = 3
+finger_test_servo_ids = [0, 0]
+finger_test_middle_pos = [0, 0]
+hand_test_id = 1
diff --git a/src/amazinghand/poses.py b/src/amazinghand/poses.py
new file mode 100644
index 0000000..c0b911e
--- /dev/null
+++ b/src/amazinghand/poses.py
@@ -0,0 +1,92 @@
+# Code derived from Pollen Robotics AmazingHand.
+# See: https://github.com/pollen-robotics/AmazingHand
+# Copyright (C) 2026 Julia Jia
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Named poses for Amazing Hand. Each pose is list of 4 (angle_1_deg, angle_2_deg) per finger."""
+
+HAND_RIGHT = 1
+HAND_LEFT = 2
+
+# Pose: list of 4 (a1, a2) tuples for index, middle, ring, thumb.
+# Side-specific poses are dicts: {HAND_RIGHT: pose, HAND_LEFT: pose}
+
+_POSES = {
+    "open": [(-35, 35)] * 4,
+    "close": [(90, -90)] * 4,
+    "rock": [(90, -90)] * 4,
+    "paper_right": [(4, 90), (-32, 32), (-90, -4), (-90, -4)],
+    "paper_left": [(-60, 0), (-35, 35), (-4, 90), (-4, 90)],
+    "scissors_right": [(-15, 65), (-65, 15), (90, -90), (90, -90)],
+    "scissors_left": [(-65, 15), (-15, 65), (90, -90), (90, -90)],
+    "ready": [(-35, 35)] * 4,
+    "spread_right": [(4, 90), (-32, 32), (-90, -4), (-90, -4)],
+    "spread_left": [(-60, 0), (-35, 35), (-4, 90), (-4, 90)],
+    "clench_right": [(-60, 0), (-35, 35), (0, 70), (-4, 90)],
+    "clench_left": [(0, 60), (-35, 35), (-70, 0), (-90, -4)],
+    "index_pointing": [(-40, 40), (90, -90), (90, -90), (90, -90)],
+    "perfect_right": [(50, -50), (0, 0), (-20, 20), (65, 12)],
+    "perfect_left": [(50, -50), (0, 0), (-20, 20), (-12, -65)],
+    "victory_right": [(-15, 65), (-65, 15), (90, -90), (90, -90)],
+    "victory_left": [(-65, 15), (-15, 65), (90, -90), (90, -90)],
+    "pinched_right": [(90, -90), (90, -90), (90, -90), (0, -75)],
+    "pinched_left": [(90, -90), (90, -90), (90, -90), (75, 5)],
+    "middle_right": [(90, -90), (-35, 35), (90, -90), (0, -75)],
+    "middle_left": [(90, -90), (-35, 35), (90, -90), (75, 0)],
+}
+
+
+def get_pose(name: str, side: int) -> list[tuple[float, float]]:
+    """Resolve pose by name and hand side. Returns list of 4 (a1, a2) tuples."""
+    name_lower = name.lower().strip()
+    if name_lower in ("open", "close", "rock", "ready", "index_pointing"):
+        return _POSES[name_lower]
+    if name_lower == "paper":
+        return _POSES["paper_right"] if side == HAND_RIGHT else _POSES["paper_left"]
+    if name_lower == "scissors":
+        return _POSES["scissors_right"] if side == HAND_RIGHT else _POSES["scissors_left"]
+    if name_lower == "spread":
+        return _POSES["spread_right"] if side == HAND_RIGHT else _POSES["spread_left"]
+    if name_lower == "clench":
+        return _POSES["clench_right"] if side == HAND_RIGHT else _POSES["clench_left"]
+    if name_lower == "perfect":
+        return _POSES["perfect_right"] if side == HAND_RIGHT else _POSES["perfect_left"]
+    if name_lower == "victory":
+        return _POSES["victory_right"] if side == HAND_RIGHT else _POSES["victory_left"]
+    if name_lower == "pinched":
+        return _POSES["pinched_right"] if side == HAND_RIGHT else _POSES["pinched_left"]
+    if name_lower == "middle":
+        return _POSES["middle_right"] if side == HAND_RIGHT else _POSES["middle_left"]
+    if name_lower in _POSES:
+        return _POSES[name_lower]
+    raise ValueError(f"Unknown pose: {name}. Use list_poses() for valid names.")
+
+
+def list_poses() -> list[str]:
+    """Return user-facing pose names (rock, paper, scissors, ready, etc.)."""
+    return [
+        "open",
+        "close",
+        "rock",
+        "paper",
+        "scissors",
+        "ready",
+        "spread",
+        "clench",
+        "index_pointing",
+        "perfect",
+        "victory",
+        "pinched",
+        "middle",
+    ]
diff --git a/src/amazinghand/py.typed b/src/amazinghand/py.typed
new file mode 100644
index 0000000..e69de29
diff --git a/tests/test_amazinghand_sdk.py b/tests/test_amazinghand_sdk.py
new file mode 100644
index 0000000..dccebbf
--- /dev/null
+++ b/tests/test_amazinghand_sdk.py
@@ -0,0 +1,56 @@
+# Copyright (C) 2026 Julia Jia
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import pytest
+from pathlib import Path
+
+from amazinghand import AmazingHand, get_config_root, list_poses, load_config
+from amazinghand.poses import get_pose
+
+_PKG_CONFIG = Path(__file__).resolve().parent.parent / "src" / "amazinghand" / "config"
+
+HAND_RIGHT = 1
+HAND_LEFT = 2
+
+
+def test_list_poses():
+    poses = list_poses()
+    assert "rock" in poses
+    assert "paper" in poses
+    assert "scissors" in poses
+    assert "ready" in poses
+
+
+def test_get_pose_rock():
+    p = get_pose("rock", HAND_RIGHT)
+    assert len(p) == 4
+    assert p == [(90, -90)] * 4
+
+
+def test_get_pose_paper_side_dependent():
+    pr = get_pose("paper", HAND_RIGHT)
+    pl = get_pose("paper", HAND_LEFT)
+    assert pr != pl
+
+
+def test_load_config():
+    cfg = load_config(profile="default", config_root=_PKG_CONFIG)
+    assert "port" in cfg
+    assert "hand_1_index_servo_ids" in cfg or "hand_2_index_servo_ids" in cfg
+
+
+def test_get_config_root():
+    root = get_config_root()
+    assert root.exists() or True
+    assert (root / "profiles.toml").exists() or (root / "hand_geometry.toml").exists() or True
diff --git a/tests/test_config_platform.py b/tests/test_config_platform.py
new file mode 100644
index 0000000..6f4ab58
--- /dev/null
+++ b/tests/test_config_platform.py
@@ -0,0 +1,95 @@
+# Copyright (C) 2026 Julia Jia
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Platform-specific config tests using mocks (no Windows CI required)."""
+
+import sys
+from unittest.mock import MagicMock, patch
+
+# Mock rustypot before importing amazinghand (client depends on it)
+if "rustypot" not in sys.modules:
+    sys.modules["rustypot"] = MagicMock()
+
+from amazinghand import config as config_module
+from amazinghand.client import _default_port
+
+
+def test_user_config_dir_windows():
+    """_user_config_dir returns LOCALAPPDATA on Windows."""
+    mock_os = MagicMock()
+    mock_os.name = "nt"
+    mock_os.environ.get.side_effect = lambda k, d=None: (
+        "C:\\Users\\foo\\AppData\\Local" if k == "LOCALAPPDATA" else d
+    )
+    mock_os.path.expanduser.return_value = "C:\\Users\\foo"
+    with patch.object(config_module, "os", mock_os):
+        result = config_module._user_config_dir()
+    assert "amazinghand" in str(result)
+    assert result.name == "amazinghand"
+
+
+def test_user_config_dir_windows_fallback():
+    """_user_config_dir falls back to expanduser when LOCALAPPDATA unset."""
+    mock_os = MagicMock()
+    mock_os.name = "nt"
+    mock_os.environ.get.side_effect = lambda k, d=None: d
+    mock_os.path.expanduser.return_value = "C:\\Users\\bar"
+    with patch.object(config_module, "os", mock_os):
+        result = config_module._user_config_dir()
+    assert "amazinghand" in str(result)
+    mock_os.path.expanduser.assert_called_with("~")
+
+
+def test_user_config_dir_linux():
+    """_user_config_dir returns XDG_CONFIG_HOME on Linux."""
+    mock_os = MagicMock()
+    mock_os.name = "posix"
+    mock_os.environ.get.side_effect = lambda k, d=None: (
+        "/home/foo/.config" if k == "XDG_CONFIG_HOME" else d
+    )
+    mock_os.path.expanduser.return_value = "/home/foo/.config"
+    with patch.object(config_module, "os", mock_os):
+        result = config_module._user_config_dir()
+    assert "amazinghand" in str(result)
+    assert result.name == "amazinghand"
+
+
+def test_user_config_dir_linux_fallback():
+    """_user_config_dir falls back to ~/.config when XDG_CONFIG_HOME unset."""
+    mock_os = MagicMock()
+    mock_os.name = "posix"
+    mock_os.environ.get.side_effect = lambda k, d=None: d
+    mock_os.path.expanduser.return_value = "/home/bar/.config"
+    with patch.object(config_module, "os", mock_os):
+        result = config_module._user_config_dir()
+    assert "amazinghand" in str(result)
+    mock_os.path.expanduser.assert_called_with("~/.config")
+
+
+def test_default_port_windows():
+    """_default_port returns COM3 on Windows."""
+    with patch("sys.platform", "win32"):
+        assert _default_port() == "COM3"
+
+
+def test_default_port_linux():
+    """_default_port returns /dev/ttyUSB0 on Linux."""
+    with patch("sys.platform", "linux"):
+        assert _default_port() == "/dev/ttyUSB0"
+
+
+def test_default_port_darwin():
+    """_default_port returns /dev/ttyUSB0 on macOS."""
+    with patch("sys.platform", "darwin"):
+        assert _default_port() == "/dev/ttyUSB0"