CAD and print files for the ORCA robotic hand.
The ORCA Hand now supports both Feetech and Dynamixel servos. Every printable variant ships two ready-to-print plates — *-FT.3mf for Feetech and *-DX.3mf for Dynamixel — so you can build the hand around whichever actuators you have. STL sources are shared across both; only the motor-specific parts (forearm/wrist structures, adapters) differ between the FT and DX plates.
orca_v2/ # Current ORCA hand — shared base + variants
base/ # Canonical full hand
Prints-1000-DX.3mf # Dynamixel print plate
Prints-1000-FT.3mf # Feetech print plate
Clips-Only.3mf
01_Fingers/*.stl # STL source files in subdirs
02_Carpals/*.stl
03_Wrist/*.stl
04_ForeArm/*.stl
05_Spools/*.stl
07_Molds/*.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.
# 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-1000-DX.3mf --all --dry-run
# List parts inside a 3MF
python3 scripts/update_3mf.py orca_v2/base/Prints-1000-DX.3mf --listCopyright (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.