---
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).