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
├── LICENSE-OmniGibson.txt                    # upstream OmniGibson MIT license
├── 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; see LICENSE-OmniGibson.txt). 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).

Paper & Citation

Part of ManiGuard: paper (arXiv:2608.17386) · code · docs

@misc{peng2026maniguard,
  title         = {{MANIGUARD}: A Benchmark and Data Suite for Specification-Grounded
                   Safety Evaluation and Improvement of Robotic Manipulation},
  author        = {Peng, Yiyan and Wang, Philip and Zhan, Simon Sinong and Lyu, Yiqi
                   and Ni, Zhenyang and Yan, Jixin and Wong, Fiorelli and Jiao, Ruochen
                   and Yin, Hang and Cao, Xinyu and Shao, Huajie and Li, Manling
                   and Zhang, Ruohan and Zhu, Qi},
  year          = {2026},
  eprint        = {2608.17386},
  archivePrefix = {arXiv},
  primaryClass  = {cs.RO},
  url           = {https://arxiv.org/abs/2608.17386},
}