| --- |
| 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). |
|
|
