IDEAS-Lab-Northwestern/franka-panda-longfinger

franka_panda_longfinger

A Franka Emika Panda arm fitted with a custom long fin-ray finger gripper, packaged for OmniGibson. This is the robot used to generate and evaluate ManiGuard-Bench; the extended fingers give the extra reach/clearance several tasks need. It is not part of the stock BEHAVIOR-1K / OmniGibson robot set, so it is released here separately for anyone who wants to reproduce or run against the benchmark.

Contents

franka_panda_longfinger/
├── usd/franka_panda_longfinger.usda        # OmniGibson runtime model (self-contained)
├── misc/metadata.json                       # OmniGibson model metadata (meta_links, bbox, …)
├── curobo/…_curobo_default.yaml             # cuRobo description (motion planning, sphere-based)
├── LICENSE                                   # Apache-2.0
├── NOTICE                                    # attribution for the mixed sources
└── README.md

This is the OmniGibson runtime model. The .usda is self-contained (geometry + materials + physics are baked in), so OmniGibson needs only usd/ + misc/metadata.json; cuRobo uses the sphere-based curobo/ description (no external mesh dependency). The source URDF used to generate the USD is not shipped — it is not read at runtime.

Using it in OmniGibson

Place this directory under your OmniGibson custom robot dataset, e.g.:

<OMNIGIBSON_DATASET>/models/franka/franka_panda_longfinger/

and load it as a Franka-class robot pointing at usd/franka_panda_longfinger.usda (the same way OmniGibson loads its stock franka_panda). Running the model requires OmniGibson / NVIDIA Isaac Sim, which have their own separate license terms.

Provenance & license

Released under Apache-2.0 (see LICENSE). It combines three sources, each attributed in NOTICE:

• Franka Panda arm geometry — derived from franka_description meshes (© Franka Robotics GmbH, Apache-2.0), baked into the USD.
• OmniGibson packaging (USD / metadata / cuRobo) — from behavior-1k/omnigibson-robot-assets (MIT). This is the robot-asset dataset, which is separate from and not subject to the gated BEHAVIOR-1K scene/object dataset license.
• Long fin-ray finger + integration — original work, © 2026 IDEAS Lab, Northwestern University (Apache-2.0).