代码 · 已核验官方资源
审核码：verified_official; 官方关系：verified_substantive_official_repository_fixed_commit; 最近核验：2026-08-12代码：released
权重：not released
数据：not released
许可证：MIT；ORCA core Python controller code; motor firmware, purchased actuators, physical hand hardware and third-party dependencies retain their own terms.
依赖：Python and uv or pip environment、ORCA v1 or v2 model-specific config.yaml、serial USB motor connection and Linux dialout permissions
硬件/传感器：ORCA hand with supported Dynamixel or Feetech motors、Linux or macOS host with the matching serial device
实机证据：The IROS 2025 paper reports hardware teleoperation, imitation-learning and zero-shot sim-to-real experiments plus more than 10,000 continuous operating cycles; these are author results, not an independent reproduction.
独立复现：No fixed-version independent paper-comparable hardware reproduction was verified.
限制/反面证据：No released paper policy checkpoint or task dataset；Controller configuration must match the physical motor and hand revision；No independent end-to-end hardware reproduction with paper task metrics
当前建议：可做硬件控制级最小复现；控制、校准和张力工具已经是实质 MIT 制品，但纸面策略和独立实机指标未随仓库发布。
重点标签：灵巧手硬件技术改进版、低成本可维护、许可证已核验
核验来源：来源 1 · 来源 2 · 来源 3
代码 · 已核验官方资源
审核码：verified_official; 官方关系：verified_official_hardware_design_repository_fixed_commit; 最近核验：2026-08-12代码：hardware CAD and print files released
权重：not applicable
数据：not released
许可证：CC-BY-4.0；Repository CAD/STL/3MF hardware designs and included source code are CC BY 4.0; the text explicitly excludes patent and trademark rights, and purchased components retain their own terms.
依赖：3D printer and Bambu-compatible 3MF workflow or STL slicing、selected Feetech or Dynamixel actuator parts、matching ORCA controller and calibration path
硬件/传感器：ORCA v1 or v2 printed hand components、supported motors and mechanical assembly tooling
实机证据：The paper reports a 17-DoF tendon-driven tactile hand, assembly in under eight hours and more than 10,000 continuous cycles; the current CAD repository does not independently reproduce that experiment.
独立复现：No independent fixed-version build, endurance run or paper-task metric report was verified.
限制/反面证据：CC BY 4.0 does not grant patent or trademark rights；Current hardware repository is not a complete released learned-policy or dataset package；Assembly cost and endurance claims are paper/author evidence, not independently verified procurement outcomes
当前建议：可做硬件构建级最小复现；CAD、STL 和打印板已在明确许可下发布，适合复核机械和装配路线；仍需分别验证元件采购、控制、耐久和任务性能。
重点标签：灵巧手硬件技术改进版、可打印硬件、许可证已核验
核验来源：来源 1 · 来源 2 · 来源 3