OrcaHand

Full-stack skill for the ORCA Hand — 17-DOF tendon-driven dexterous robotic hand. Compounds on agentic-control-kernel (plant/shield/trace) and bstack (governance).

Plant Interface

Dual-backend: physical (orca_core) and simulated (orca_sim) share identical typed schemas.

observe() → OrcaHandState (schemas/orcahand-state.schema.json)
  measured:
    joint_positions: {thumb_mcp, thumb_abd, thumb_pip, thumb_dip,
                      index_abd, index_mcp, index_pip,
                      middle_abd, middle_mcp, middle_pip,
                      ring_abd, ring_mcp, ring_pip,
                      pinky_abd, pinky_mcp, pinky_pip, wrist}  # degrees
    motor_currents:      17 motors, mA
    motor_temperatures:  17 motors, celsius
    tactile_readings:    per-sensor [fx, fy, fz] in N (touch model only)