Research operations · 12 September 2026
From human contact
to robot-compatible evidence.
OpenArm + ORCA holds a controlled pose on Apple Silicon.
This is a verified integration gate: the official seven-axis OpenArm model and seventeen-axis ORCA hand were composed and stepped for 1,000 physics ticks. It is not yet an ARMBench grasp result; no benchmark object was included and the wrist mount still requires physical calibration.
24
controlled axes
2.000 s
simulated time
0.008976 rad
maximum drift
0.020 rad
gate threshold
Darwin arm64 · MuJoCo 3.13.0
Gravity-compensated joint PD
Episodes
3 valid / 1 planned
Hand model
MANO runtime ready
GPU capacity
1 L4 available
Blocking gates
4 require real data
Delivery map
Milestone gates
Evidence bundles
Episodes
| EPISODE | TYPE | SENSORS | STAGE | COVERAGE |
|---|---|---|---|---|
| E0001 4.0 s | Synthetic baseline | RGB-D · poses | Evaluated | |
| E-SIM-OPENARM-TABLE-001 12.0 s | Supported-object pick cycle | 24 joints · contact · tactile | Table pick passed | |
| E-SIM-OPENARM-001 8.0 s | Contact-rich cube cycle | 24 joints · contact · tactile | Lift cycle passed | |
| E-REAL-001 10–20 s | Human grasp | Meta ×2 · Record3D · glove | Capture pending |
LeRobot handoff via LeLab
MetaEgo prepares force-grounded LeRobot v3 episodes. LeLab handles robot calibration, teleoperation, recording, training, replay and Hub upload.