# 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//` 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](https://www.youtube.com/watch?v=TgIz7HiyaoU) covers the full build.
Some parts have changed since it was recorded — see
[`orca_v2/base/ASSEMBLY_ADDENDUM.md`](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
```bash
# 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)](LICENSE). You may share and adapt the material for any purpose,
including commercially, with appropriate credit. No patent or trademark rights
are granted.
