<p align="center"> <img src="assets/banner.png" alt="ORCA Hand" width="100%"/> </p> <div align="center" style="line-height: 1;"> <a href="https://arxiv.org/abs/2504.04259" target="_blank"><img alt="arXiv" src="https://img.shields.io/badge/arXiv-2504.04259-B31B1B?logo=arxiv"/></a> <a href="https://discord.gg/xvGyxaccRa" target="_blank"><img alt="Discord" src="https://img.shields.io/badge/Discord-orcahand-7289da?logo=discord&logoColor=white&color=7289da"/></a> <a href="https://x.com/orcahand" target="_blank"><img alt="Twitter Follow" src="https://img.shields.io/twitter/follow/orcahand?style=social"/></a> <a href="https://orcahand.com" target="_blank"><img alt="Website" src="https://img.shields.io/badge/Website-orcahand.com-blue?style=flat&logo=google-chrome"/></a> <br> <a href="https://github.com/orcahand/orca_files" target="_blank"><img alt="GitHub stars" src="https://img.shields.io/github/stars/orcahand/orca_files?style=social"/></a> </div>

ORCA Hand Files

CAD and print files for the ORCA robotic hand.

The ORCA Hand supports both Feetech and Dynamixel servos. The base hand ships a single ready-to-print file, Prints-1100.3mf, containing plates for both actuator options — print the forearm/wrist parts for the servos you have and skip the others. The touch variant still ships a separate plate per actuator (*-DX.3mf / *-FT.3mf). STL sources are shared throughout; only the motor-specific parts (forearm/wrist structures, adapters) differ between Feetech and Dynamixel.

Structure

orca_v2/                          # Current ORCA hand — shared base + variants
  base/                           # Canonical full hand
    Prints-1100.3mf               # Print file — plates for both Dynamixel and Feetech
    01_Fingers/*.stl              # STL source files in subdirs
    02_Carpals/*.stl
    03_Wrist/*.stl
    04_ForeArm/*.stl
    05_Spools/*.stl
    06_CNC/*.stl
    07_Molds/*.stl                # incl. Clips-Only.3mf
    08_MoldsWithClips/*.stl
    09_Skin/*.stl
  touch/                          # Touch-sensor variant
    Prints-2000-DX.3mf            # Pulls base + touch STLs in one pass
    Prints-2000-FT.3mf
    01_Fingers/*-Touch.stl        # Override STLs only
    02_Carpals/*.stl
  lite/                           # Lite variant — STL sources (3MFs TBD)
    01_ForeArm/*.stl
    02_Spools/Lite-*.stl
  joint-sensing/                  # Joint-sensing variant — STL sources (3MFs TBD)
    01_Fingers/*JS*.stl

orca_v1/                         # V1 design (self-contained)
  Print_Files_Bambu/*.3mf         # Print files in dedicated subdir
  ORCA_Fingers/*.stl              # STLs in sibling dirs
  ORCA_Tower/*.stl
  ...

Variant 3MFs under orca_v2/<variant>/ automatically resolve part names against the whole orca_v2/ tree, so they pick up shared STLs from orca_v2/base/ without duplication. Edit a base STL once and every variant 3MF that references it gets updated.

Assembly

The assembly tutorial video covers the full build. Some parts have changed since it was recorded — see orca_v2/base/ASSEMBLY_ADDENDUM.md for the differences (PTFE tubes, thumb AP pins, carpals pins/gear/bearings, the V1100 spools) and extra assembly tips.

Updating Print Files After STL Changes

# Find which 3MF(s) contain a given STL (cascades across variants)
python3 scripts/find_3mf_for_file.py orca_v2/base/05_Spools/BaseSpool.stl

# Update all parts in a 3MF from source STLs (variants pull base parts too)
python3 scripts/update_3mf.py orca_v2/touch/Prints-2000-DX.3mf --all

# Preview without writing
python3 scripts/update_3mf.py orca_v2/base/Prints-1100.3mf --all --dry-run

# List parts inside a 3MF
python3 scripts/update_3mf.py orca_v2/base/Prints-1100.3mf --list

License

Copyright (c) 2026 ORCA Dexterity, Inc.

All files in this repository — hardware designs (CAD/STL/3MF) and source code — are licensed under the Creative Commons Attribution 4.0 International License (CC BY 4.0). You may share and adapt the material for any purpose, including commercially, with appropriate credit. No patent or trademark rights are granted.