ORCA Simulation

ORCA Hand

MuJoCo simulation environments for ORCA hands using the Gymnasium API.

What you can explore

Explore the available hand models and example manipulation tasks.

Before you use it

The authors note ongoing changes. Pin a release and check embodiment configuration; physical performance still needs testing.

Original contributors

ORCA Hand contributors

License / access: See source terms; permissions for code, models and data may differ

Original code & documentation

Editorial reference · checked 2026-09-22