An inquest into his death in Christchurch heard today that video footage from truck's cab showed it would have been "impossible to see or avoid him".
Constable Elizabeth Johnson of nearby Rolleston police station, who oversaw the investigation, told Coroner Richard McElrea that they were satisfied there was no criminal liability surrounding his death.
The inquest heard a statement from the truck driver who said he had seen a dark shape shortly before feeling an impact and hearing a "loud thud".
He stopped and phoned emergency services.
Another member of the public told him the man was dead, and the driver said: "I didn't want to look."
He died at the scene.
A post-mortem examination found an alcohol level of 238mg of alcohol per 100ml of blood, which Ms. Johnson considered being "at the high end of intoxication".
The legal limit for driving is 80mg.
The inquest heard that Mr Orr's wife Anna was arriving later that Saturday.
Mr Orr was going to take leave and the couple were going to go on a one-week holiday around the South Island, and even run a marathon near Queenstown.
The inquest is expected to conclude later today.