LiFanxing/franka_robotiq

Franka with Robotiq 2F-85

A Franka arm with a Robotiq 2F-85 gripper as one complete USD file. It is the Isaac Sim Franka asset with the Robotiq gripper variant, corrected where that asset's values are placeholders, as in the RoboLab DROID setup: the arm links take the inertial properties of Isaac Lab's Franka asset, the Franka hand is replaced by the flange that carries the gripper, and the finger pads have a rubber friction material and a convex decomposition. Isaac Lab's FRANKA_ROBOTIQ_GRIPPER_CFG (isaaclab_assets.robots.franka, also used by the heterogeneous VLA tasks) loads it from https://huggingface.co/datasets/LiFanxing/franka_robotiq/resolve/main.

Layout

Path	Content
franka_robotiq_2f_85_isaaclab_inertia.usd	The robot: links, joints, colliders and visual meshes.
materials/	Its textures and MDL materials.

Source

RoboLab, from the Isaac Sim Franka and Robotiq 2F-85 assets.

License

Placeholder until the licenses are reviewed: the asset keeps the license of its sources listed above, and the dataset may only be used as those licenses allow.