# Robot description in the robot.yaml format, version 0.1.

format_version: "0.1"
name: ORCA Hand
summary: A robotic hand with 3D-printed parts, silicone or TPU skins, and two servo variants (Feetech or Dynamixel).
category: other
difficulty: advanced
license:
  hardware: CC-BY-4.0
  software: CC-BY-4.0
source:
  repository: https://github.com/orcahand/orcahand_hardware
  ref: 37b71dc03d3f11e48b920cbf54562b33c025bc8c
tools:
  - 3D printer
  - Bambu Lab Studio
  - silicone casting supplies
files:
  parts_3d: orca_v2/
  cad: orca_v2/
  electronics: orca_v1/ORCA_Electronics/ORCA_Motor_Connectors_Gerber/
build_steps:
  - title: Print the hand parts from the hand print file (Prints-1100.3mf or Prints-2100.3m
  - title: Print the silicone skin molds from the silicone mold file
  - title: Cast the finger and carpal skins in silicone, or print them in TPU
  - title: Assemble the hand, fitting the carpal skin into the carpals (glue if loose)