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@AllenHatcher: Thanks, Prof. Hatcher! Is it possible to replace the cube with other polyotpes or polyhedrons $P$ such that the associated vector bundle of the cover $O(3)\to O(3)/Sym(P)$ is not orientable?
Thanks, Schlieper! Why we can use Poincar\'{e} duality? The Poincar\'{e} duality requires the manifold to be orientable. However, $G$ may not be orientable.