franka_panda_longfinger
Copyright 2026 IDEAS Lab, Northwestern University

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
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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)
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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)
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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