graspkit assets

LICENSES.md

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+# Asset licenses
+
+Assets are under their own licenses. This inventory is not redistribution clearance.
+
+| Folder | Source | Terms |
+| --- | --- | --- |
+| data/object_data/dexgraspnet.tar.gz, dexgraspnet_official_splits | [DexGraspNet](https://github.com/PKU-EPIC/DexGraspNet) | CC BY-NC 4.0 for the dataset; object sources keep their own terms. |
+| data/object_data/objaverse_dex1b_v2.zip | Processed [Objaverse](https://objaverse.allenai.org/) meshes | Each model keeps its own license. |
+| data/object_data/dex_diffuser.zip, dex_diffuser_v2.zip | DexDiffuser object meshes | Object sources keep their own terms. |
+| data/isaac/appearance | Exported from robot assets; textured table | Robot assets keep their terms in `openrobokit/robokit`. |
+| data/scene_description, calib, policies | GraspKit | No license located. |

README.md

@@ -0,0 +1,33 @@
+---
+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
+  scene_description/   # Dex1B scene msgpacks
+policies/
+  skill/               # ARX X5 open-loop generator and ranker
+```
+
+## 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).

calib/g1/25-06-19-camera_extrinsic.json

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calib/g1/25-06-19-camera_intrinsic.json

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calib/g1/25-10-07-camera_extrinsic.json

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calib/g1/25-10-07-camera_intrinsic.json

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calib/g1/26-02-12-camera_extrinsic.json

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calib/g1/g1_1788_joint_offset.npy

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calib/g1/zedmini_720p_camera_pose.json

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calib/g1/zedmini_720p_intrinsic.json

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calib/g1_inspire/T_torso_camera.npy

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calib/rby1/26-04-16-camera_extrinsic.json

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calib/rby1/26-04-16-camera_intrinsic.json

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calib/vega_sharpa/26-08-05-camera_extrinsic.json

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calib/vega_sharpa/26-08-05-camera_intrinsic.json

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calib/vega_sharpa/26-08-21-camera_extrinsic.json

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calib/vega_sharpa/26-08-21-finger-camera_extrinsic.json

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calib/vega_sharpa/26-08-21-offset-camera-only_extrinsic.json

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calib/vega_sharpa/26-08-25-camera_extrinsic.json

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calib/vega_sharpa/26-08-25-right_hand_mount.json

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+}

calib/vega_sharpa/26-08-27-camera_extrinsic.json

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calib/vega_sharpa/26-08-27-right_hand_mount.json

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+{
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+    "hand_held_out_mm_before": 15.19,
+    "hand_held_out_mm_after": 7.06
+}

calib/vega_sharpa/26-08-30-camera_extrinsic.json

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+    "source": "vega_finger_rgbd_calib_offset.py 2026-08-30, variant camera"
+}

calib/vega_sharpa/26-08-30-right_hand_mount.json

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+{
+    "joint": "R_ee_to_right_hand",
+    "T_hand_mount": [
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+    "source": "vega_finger_rgbd_calib_offset.py 2026-08-30, mount_rot, depth+mask on SAM2-painted hand pixels with the camera frozen to the arm-only stage-1 solve, 20 poses / 5 held out",
+    "hand_held_out_mm_before": 19.41,
+    "hand_held_out_mm_after": 8.37
+}

calib/vega_sharpa/26-08-30-tl-right_hand_mount.json

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+{
+    "joint": "R_ee_to_right_hand",
+    "T_hand_mount": [
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+    "source": "vega_finger_rgbd_calib_offset.py 2026-08-30, mount_tl (translation only), depth+mask on SAM2-painted hand pixels with the camera frozen to the arm-only stage-1 solve, 20 poses / 5 held out",
+    "hand_held_out_mm_before": 19.41,
+    "hand_held_out_mm_after": 9.16
+}

calib/xarm/25-02-19-camera_extrinsic.json

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+}

calib/xarm/25-02-19-camera_intrinsic.json

@@ -0,0 +1,6 @@
+{
+  "intrinsic": [
+    676.9827270507812, 677.3164672851562, 492.0708312988281, 268.17071533203125,
+    540.0, 960.0, 0.0002500000118743628
+  ]
+}

calib/xarm/25-04-15-camera_extrinsic.json

@@ -0,0 +1,28 @@
+{
+  "extrinsic": [
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+}

calib/xarm/25-04-21-camera_extrinsic.json

@@ -0,0 +1,28 @@
+{
+  "extrinsic": [
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+}

calib/xarm/25-08-28-camera_extrinsic.json

@@ -0,0 +1,28 @@
+{
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+}

calib/xarm/25-09-29-camera_extrinsic.json

@@ -0,0 +1,8 @@
+{
+  "extrinsic": [
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+       [ 0       ,  0      ,  0      ,  1     ]   
+  ]
+}

calib/xarm/25-10-19-camera_extrinsic.json

@@ -0,0 +1,9 @@
+{
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+         [ 0.9967894 ,  0.01125226, -0.079274  ,  0.4641986 ],
+         [-0.02234075, -0.91166973, -0.4103162 ,  0.39597672],
+         [ 0       ,  0       ,  0       ,  1       ]   
+    ]
+}
+  

calib/xarm/25-11-29-camera_extrinsic.json

@@ -0,0 +1,9 @@
+{
+    "extrinsic": [
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+        [ 0       ,  0       ,  0      ,  1       ]
+    ]
+}
+  

calib/xarm/26-03-24-camera_extrinsic.json

@@ -0,0 +1,8 @@
+{
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+}

calib/xarm/26-05-12-camera_pose.json

@@ -0,0 +1,28 @@
+{
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+}

calib/xarm/26-05-13-camera_pose.json

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+}

calib/xarm/26-05-16-camera_pose.json

@@ -0,0 +1,28 @@
+{
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+}

calib/xarm/26-06-21-camera_pose.json

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+{
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+}

calib/xarm_209/26-05-18-camera_pose.json

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+{
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+}

data/isaac/appearance/native_appearance/dev_object_visuals.h5

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+version https://git-lfs.github.com/spec/v1
+oid sha256:7d6889e7825e466595d21c37f95216940c792fcdef455f18ac05026d97b0c107
+size 154400

data/isaac/appearance/native_appearance/manifest.json

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+  "table_world_transform": "scene table pose with world z minus table_size.z/2; then local Rz(pi/2) and scale [1.75*sy/1.209,1.75*sx/2.418,1.75*sz/0.9196429]; source GLB node transforms already baked into exported vertices",
+  "meshes": [
+    {
+      "node": "tableleg.001",
+      "material_index": 1,
+      "vertices": 313,
+      "faces": 192
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+    {
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+      "material_index": 0,
+      "vertices": 222,
+      "faces": 140
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+  ],
+  "textures": [
+    {
+      "image_index": 0,
+      "file": "Wood052_1K_NormalGL.png",
+      "size": [
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+        1024
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+      "source_encoding": "image/jpeg",
+      "export_bytes": 1427496,
+      "decoded_pixels_identical": true
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+        1024
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+      "export_bytes": 1393579,
+      "decoded_pixels_identical": true
+    },
+    {
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+      "file": "Wood052_1K_Roughness.png",
+      "size": [
+        1024,
+        1024
+      ],
+      "source_encoding": "image/png",
+      "export_bytes": 948628,
+      "decoded_pixels_identical": true
+    }
+  ],
+  "source_references": [
+    "src/graspkit/mani_skill/utils/scene_builder/table/scene_builder.py:build",
+    "src/graspkit/mani_skill/envs/dex_grasp.py:_load_scene,_initialize_episode",
+    "mani_skill.envs.sapien_env.BaseEnv:_load_lighting"
+  ],
+  "lighting": {
+    "ambient_rgb": [
+      0.3,
+      0.3,
+      0.3
+    ],
+    "directional": [
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+        "rgb": [
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+        "shadows": "native enable_shadow"
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+    "note": "SDK intensity and exposure units differ; match directions/materials first, verify radiometry on paired dev captures without changing physics"
+  },
+  "object_visual_rule": "Use collision_mesh_path, not get_visual_mesh_path. No authored material in the three core-bottle samples; trimesh default vertex gray is not proof of SAPIEN default material.",
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data/isaac/appearance/native_appearance/table_source.glb

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data/isaac/appearance/native_appearance/table_visual.h5

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data/isaac/appearance/native_robot_materials/aloha_camera_material_mapping.json

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+}

data/isaac/appearance/native_robot_materials/rgb_obj_uv_export_validation.json

@@ -0,0 +1,830 @@
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