| franka_panda_longfinger |
| Copyright 2026 IDEAS Lab, Northwestern University |
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|
| This robot asset is distributed under the Apache License, Version 2.0 |
| (see LICENSE). It ships the OmniGibson runtime model (USD) plus its |
| metadata and cuRobo description. The model combines material from the |
| sources below; their attribution and license terms are retained. |
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| 1. Franka Emika Panda arm geometry |
| -------------------------------------------------------------------- |
| The arm / link / hand geometry baked into usd/franka_panda_longfinger.usda |
| derives from the Franka Emika Panda meshes in franka_description. |
| Origin: Franka Robotics GmbH — franka_description |
| (https://github.com/frankaemika/franka_description) |
| License: Apache License 2.0 |
| Copyright: Franka Robotics GmbH |
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| 2. OmniGibson robot-asset packaging (USD / metadata / cuRobo config) |
| -------------------------------------------------------------------- |
| Files: usd/franka_panda_longfinger.usda, misc/metadata.json, |
| curobo/franka_panda_longfinger_description_curobo_default.yaml, |
| and the OmniGibson per-model directory convention. |
| Origin: Stanford Vision & Learning Lab — behavior-1k/omnigibson-robot-assets |
| (https://huggingface.co/datasets/behavior-1k/omnigibson-robot-assets) |
| License: MIT |
| Note: The USD was generated from the stock OmniGibson `franka_panda` USD. |
| Running it requires OmniGibson / NVIDIA Isaac Sim, which are governed |
| by their own separate license terms (not included here); this asset |
| only provides the model files. |
|
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| 3. Long fin-ray finger + integration (the "longfinger" variant) |
| -------------------------------------------------------------------- |
| The extended fin-ray finger geometry and the composition of this variant |
| (baked into the USD) are original work. |
| Origin: IDEAS Lab, Northwestern University. |
| License: Apache License 2.0 |
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