orca-sim 0.1.0

Minimal MuJoCo-only Orcahand repository with left, right, and combined Gymnasium environments.

orca_sim provides simulation environments for the ORCA hand. You can start building your ORCA hand today at orcahand.com.

Install

We recommend using python 3.11 inside of a virtual environment. You can create a virtual environment using uv (how to install uv):

uv venv orca --python 3.11
source orca/bin/activate
uv pip install orca_sim

Alternatively, you can use conda (how to install conda):

conda create -n orca python=3.11 -y
conda activate orca
python -m pip install orca_sim

As we are continuously iterating on orca_sim, you can fetch the latest main building this package from source, so to be in the loop with the latest developments.

git clone https://github.com/orcahand/orca_sim
cd orca_sim && uv pip install -e .

[!WARNING] We are still iterating (a lot!) on this package. If you need stability, consider sticking to the Pypi package (pip install orca_sim).

Getting started

orca_sim follows the Gymnasium API, and uses Mujoco for physics simulation and rendering. You can instantiate an environment with one hand (or both) via:

from orca_sim import OrcaHandRight  # or OrcaHandLeft, OrcaHandCombined

env = OrcaHandRight()
obs, info = env.reset()
obs, reward, terminated, truncated, info = env.step(env.action_space.sample())
env.close()