The ISS cargo spacecraft that first flew on the Orb-D1 demonstration mission was Cygnus.
Orb-D1, also called Orbital-D1 or Cygnus 1, launched on September 18, 2013, aboard an Antares 110 rocket. It was Orbital Sciences Corporation’s demonstration flight under NASA’s Commercial Orbital Transportation Services program and marked the first spaceflight of the Cygnus vehicle.
The spacecraft carried a standard Pressurized Cargo Module built by Thales Alenia Space in Italy. After a rendezvous delay caused by a GPS-related computer data-link issue, astronaut Luca Parmitano captured Cygnus with Canadarm2 on September 29, and the vehicle was berthed to Harmony.
The name can cause confusion because Orb-D1 was a demonstration mission, while Orb-1 was the first operational Cygnus cargo mission under NASA’s resupply contract. The spacecraft itself was named the S.S. G. David Low, honoring the astronaut and Orbital executive who died in 2008.