Orcahand

Q: What is a Claude Code skill and how does the Orcahand skill fit in?

A Claude Code skill is a SKILL.md file that lives under ~/.claude/skills/<name>/ and tells the Claude Code CLI agent how to perform a specific task (instructions, prompts, allowed tools). Skills are auto-discovered at session start. Orcahand is one of 67,000+ skills indexed in the open ClaudSkills catalog, classified under the General category. Learn more at https://claudskills.com/learn/what-is-skill-md/.

Category: General · Sub-category: ai-tooling · Last updated: 2026-06-01

ai:agent

Full-stack skill for the ORCA Hand — 17-DOF tendon-driven robotic hand (ETH Zurich). Implements agentic-control-kernel Plant interface with typed schemas, safety shields, multi-rate loops. Lifecycle: 3D print + assembly, MuJoCo sim (orca_sim), RL training (macOS + remote GPU), teleoperation (AVP/Rokoko/MediaPipe via orca_retargeter), sim-to-real, EGRI improvement. Use when: building/assembling OrcaHand, orca_sim environments, teleoperating, training grasp policies, sim-to-real transfer, control-kernel Plant schemas, EGRI loops. Triggers: "orcahand", "orca_core", "orca_sim", "dexterous hand", "robotic hand", "tendon-driven", "dynamixel hand", "hand simulation", "teleoperate hand", "grasp policy", "sim-to-real hand", "3d print hand".

From the source SKILL.md

Full-stack skill for the [ORCA Hand](https://orcahand.com/) — 17-DOF tendon-driven dexterous robotic hand. Compounds on agentic-control-kernel (plant/shield/trace) and bstack (governance).

What this skill does

Orcahand is a community-contributed Claude Code skill in the ai-tooling sub-category. It ships as a SKILL.md file that Claude Code auto-discovers under ~/.claude/skills/orcahand/ and loads when your prompt matches the skill's trigger.

When to invoke it: Use when: building/assembling OrcaHand, orca_sim environments, teleoperating, training grasp policies, sim-to-real transfer, control-kernel Plant schemas, EGRI loops. Triggers: "orcahand", "orca_core", "orca_sim", "dexterous hand", "robotic hand", "tendon-driven", "dynamixel hand", "hand simulation", "teleoperate hand", "grasp policy", "sim-to-real hand", "3d print hand".

Who uses this skill

The Orcahand Claude Code skill is built for Claude Code users and developers across all disciplines looking for general-purpose AI assistance. It's part of ClaudSkills (also referred to as Claude Skills or Claude Code Skills) — the open community-curated registry of 88,000+ SKILL.md files for Anthropic's Claude Code agent and the wider Claude ecosystem (Claude API, Claude Agent SDK).

How to install

Free

Manual install (2 steps)

mkdir -p ~/.claude/skills/orcahand
curl -L https://claudskills.com/skills/orcahand/SKILL.md \
  -o ~/.claude/skills/orcahand/SKILL.md

Or just download SKILL.md directly and drop it into ~/.claude/skills/orcahand/. Claude Code auto-discovers it on next session.

Skills live at ~/.claude/skills/orcahand/SKILL.md on macOS/Linux, or %USERPROFILE%\.claude\skills\orcahand\SKILL.md on Windows. See the full install guide for step-by-step instructions.

Pro

One-click install via the desktop app

The ClaudSkills desktop app installs any skill directly into ~/.claude/skills/ with one click — no terminal required. Pro starts at $9/mo or $149 lifetime.

Pro

For the full experience including quality scoring and one-click install features for each skill — upgrade to Pro.

See pricing → Download desktop app

Frequently asked questions

How do I install the Orcahand Claude Code skill?

Install via the ClaudSkills desktop app (one click) or copy SKILL.md from the source repository to ~/.claude/skills/orcahand/SKILL.md and restart Claude Code. Both flows are detailed at claudskills.com/install/.

What does the Orcahand skill do?

Is this skill free to install?

Yes. ClaudSkills is an open registry — every skill keeps its source repository's license, and manual install via copy is free. ClaudSkills Pro ($9/mo, $79/yr, or $149 one-time) adds one-click install via the desktop app and a multi-signal Quality Score.

When should I use the Orcahand skill?

Use Orcahand when your Claude Code task falls under the General category — specifically in the ai tooling area. Claude Code auto-discovers installed skills and invokes the right one based on the task description, so you can also ask Claude directly (e.g. "use Orcahand" or describe the task and let Claude pick). Browse related skills at /category/general/.

What is a Claude Code skill and how does the Orcahand skill fit in?

A Claude Code skill is a SKILL.md file that lives under ~/.claude/skills/<name>/ and tells the Claude Code CLI agent how to perform a specific task (instructions, prompts, allowed tools). Skills are auto-discovered at session start. Orcahand is one of 67,000+ skills indexed in the open ClaudSkills catalog, classified under the General category. Learn more at /learn/what-is-a-claude-skill/.

Attribution & license

Source: https://github.com/broomva/skills/blob/HEAD/skills/orcahand/SKILL.md
License: MIT
Author: broomva
Website: https://skills.sh/broomva/skills

Cite this skill

If you reference this skill in a blog post, paper, or documentation, you can cite it as:

APA

broomva. (2026). Orcahand [Claude Code skill]. ClaudSkills. https://claudskills.com/skills/orcahand/

BibTeX

@misc{orcahand-2026,
  author    = {broomva},
  title     = {Orcahand [Claude Code skill]},
  year      = {2026},
  publisher = {ClaudSkills},
  url       = {https://claudskills.com/skills/orcahand/}
}

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Badge

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