Orca Hand

Tutorials

Step-by-step guides for assembling, calibrating, and operating the Orca Hand — from first unboxing through teleoperation and policy training.

Best First Links

New to the Orca Hand? Start with these resources before diving into the SVRC guides. They cover the official documentation and repository.

Start Here

Official Orca Hand documentation & GitHub

  • 1
    Official Orca Hand Docs Assembly instructions, servo wiring, tendon routing, and calibration procedures. The authoritative source for all hardware setup. Read official docs →
  • 2
    orca_core GitHub Repository Python SDK, MuJoCo MJCF models, example scripts, and hardware design files. Start here for code. View GitHub →
  • 3
    SVRC Orca Hand Research Guide In-depth SVRC article covering the full Orca Hand stack: assembly, SDK, simulation, and policy training. Read SVRC guide →
  • 4
    Orca Hand Setup Guide SVRC step-by-step setup: parts checklist, assembly sequence, servo calibration, and first motion test. Go to setup →

Assembly & Hardware Setup

The Orca Hand uses 17 Feetech STS3215 servos and a tendon-driven mechanism. Proper assembly and calibration are essential for reliable operation.

Hub Page

Full Setup Guide

Parts list, 3D-printed components, servo installation, tendon routing, and USB-serial connection. Everything to get from box to first motion.

Go to setup → Reference

Specifications

Joint ranges, servo torque limits, tendon tension values, mechanical dimensions, and electrical requirements for each finger module.

View specs → Quick Start

Quickstart Guide

Minimum-viable path to your first motion test. Install orca_core, connect USB, calibrate servos, and run the demo script.

Start now →
Practical note

Tendon tension matters

Most first-build issues come from incorrect tendon tension. Follow the calibration procedure exactly and verify each finger independently before running multi-finger commands.

SDK & Software

The orca_core Python SDK provides servo control, calibration routines, and MuJoCo simulation. Install it before attempting any motion commands.

Hub Page

Software Overview

SDK installation, Python API reference, MuJoCo model loading, and integration with ROS2 and the Fearless Platform.

View software → GitHub

orca_core Repository

Source code, example scripts, MJCF models, and issue tracker. Check open issues for common problems and workarounds.

Open GitHub → Research Guide

Open-Source Dexterous Hand Guide

Deep dive into the Orca Hand architecture: servo control, tendon mechanics, sim-to-real pipeline, and policy training integration.

Read guide →
Practical note

Simulate before running on hardware

Always test your control code in MuJoCo first. The MJCF model included in orca_core accurately represents the joint limits and tendon dynamics, catching most issues before they can damage hardware.

Previous ← Data Collection
Next Community →

Ready to Build?

Open-source design files, SDK, and simulation — everything you need to get started with the Orca Hand.

Orca Hand Forum → Store Community Hub