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Orca Core is the central Python control framework for the ORCA Hand, an open-source dexterous robotic hand designed to replicate human-like manipulation capabilities. It provides a high-level abstraction layer over the underlying hardware, allowing developers to interact with the robotic system through simplified joint-space commands rather than low-level motor instructions. The software includes a suite of scripts for calibration, tensioning, and positioning, ensuring that the physical hand...

...The vision-language model remains frozen during both pretraining and finetuning, preserving language understanding and improving generalization. Streamlined MLP connection between vision encoder and LLM with added layer normalization.