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license: other
tags:
- robotics
- grasping
---
# graspkit assets
Scene descriptions, object meshes, calibration files, and policy checkpoints for
[GraspKit](https://github.com/openrobokit/graspkit). Robot models live in
[`openrobokit/robokit`](https://huggingface.co/datasets/openrobokit/robokit).
## Layout
```
calib/ # camera and mount calibration per rig
data/
isaac/appearance/ # robot materials and table textures for Isaac
object_data/ # object mesh archives and DexGraspNet splits
hug_release/ # HuG's 22 grasp targets, with their collision parts
scene_description/ # Dex1B scene msgpacks
policies/
skill/ # ARX X5 open-loop generator and ranker
hug/ # HuG grasp policy and GR00T lower-body policies for the G1
```
## Consuming
GraspKit reads these files through `graspkit.assets`, pinned to a dataset commit and cached under
`~/.graspkit/assets/<revision>/`.
## Licenses
See [LICENSES.md](LICENSES.md).
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