| --- |
| license: apache-2.0 |
| pretty_name: Franka Panda Longfinger (robot asset) |
| tags: |
| - robotics |
| - robot-asset |
| - franka |
| - omnigibson |
| - behavior-1k |
| - usd |
| viewer: false |
| --- |
| |
| # franka_panda_longfinger |
|
|
| A **Franka Emika Panda** arm fitted with a custom **long fin-ray finger** gripper, |
| packaged for [OmniGibson](https://behavior.stanford.edu/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`](LICENSE)). It combines three sources, |
| each attributed in [`NOTICE`](NOTICE): |
|
|
| - **Franka Panda arm geometry** — derived from [`franka_description`](https://github.com/frankaemika/franka_description) meshes (© Franka Robotics GmbH, Apache-2.0), baked into the USD. |
| - **OmniGibson packaging** (USD / metadata / cuRobo) — from [`behavior-1k/omnigibson-robot-assets`](https://huggingface.co/datasets/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). |
|
|
