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diff --git a/LICENSES.md b/LICENSES.md
new file mode 100644
index 0000000000000000000000000000000000000000..3935905014144effe6b62533cda9a990584ac5fc
--- /dev/null
+++ b/LICENSES.md
@@ -0,0 +1,11 @@
+# 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. |
diff --git a/README.md b/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..125791a0f900c18f0cfbbe3fcc1bf0022a0b8903
--- /dev/null
+++ b/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).
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+      0.0006188593106344342
+    ],
+    [
+      -0.006958393845707178,
+      -0.742071270942688,
+      -0.6702848672866821,
+      1.485844373703003
+    ],
+    [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+    ]
+  ]
+}
diff --git a/calib/rby1/26-04-16-camera_intrinsic.json b/calib/rby1/26-04-16-camera_intrinsic.json
new file mode 100644
index 0000000000000000000000000000000000000000..da79bfd6d1291264869c8758b87bb5e94e53131b
--- /dev/null
+++ b/calib/rby1/26-04-16-camera_intrinsic.json
@@ -0,0 +1,11 @@
+{
+  "intrinsic": [
+    595.080322265625,
+    594.9166870117188,
+    325.0992431640625,
+    244.63018798828125,
+    480.0,
+    640.0,
+    0.0002500000118743628
+  ]
+}
\ No newline at end of file
diff --git a/calib/vega_sharpa/26-08-05-camera_extrinsic.json b/calib/vega_sharpa/26-08-05-camera_extrinsic.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc2296e3074bbf8bdb06cd2b55146494abd75906
--- /dev/null
+++ b/calib/vega_sharpa/26-08-05-camera_extrinsic.json
@@ -0,0 +1,28 @@
+{
+  "T_base_camera": [
+    [
+      -0.003758407663553953,
+      -0.6194835305213928,
+      0.7849616408348083,
+      -0.10523048043251038
+    ],
+    [
+      -0.999902069568634,
+      0.015388015657663345,
+      0.007364474702626467,
+      0.017746374011039734
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+    [
+      -0.016568852588534355,
+      -0.7848260998725891,
+      -0.6195597052574158,
+      1.4590414762496948
+    ],
+    [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+    ]
+  ]
+}
\ No newline at end of file
diff --git a/calib/vega_sharpa/26-08-05-camera_intrinsic.json b/calib/vega_sharpa/26-08-05-camera_intrinsic.json
new file mode 100644
index 0000000000000000000000000000000000000000..53745bbb1e5e1233989f84e4fd5beed2c25a8e81
--- /dev/null
+++ b/calib/vega_sharpa/26-08-05-camera_intrinsic.json
@@ -0,0 +1,11 @@
+{
+  "intrinsic": [
+    253.328,
+    253.328,
+    331.13,
+    179.02,
+    360.0,
+    640.0,
+    0.001
+  ]
+}
\ No newline at end of file
diff --git a/calib/vega_sharpa/26-08-21-camera_extrinsic.json b/calib/vega_sharpa/26-08-21-camera_extrinsic.json
new file mode 100644
index 0000000000000000000000000000000000000000..84a08961c5128d7bfea2dd62ab5fa9918323f239
--- /dev/null
+++ b/calib/vega_sharpa/26-08-21-camera_extrinsic.json
@@ -0,0 +1,28 @@
+{
+  "T_base_camera": [
+    [
+      -0.005450201220810413,
+      -0.6189917325973511,
+      0.7853787541389465,
+      -0.10412298887968063
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+    [
+      -0.9998847842216492,
+      0.014494388364255428,
+      0.004484811332076788,
+      0.01928151212632656
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+    [
+      -0.014159630052745342,
+      -0.7852637767791748,
+      -0.6189993619918823,
+      1.457480788230896
+    ],
+    [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+    ]
+  ]
+}
diff --git a/calib/vega_sharpa/26-08-21-finger-camera_extrinsic.json b/calib/vega_sharpa/26-08-21-finger-camera_extrinsic.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf04bb15b1d869d1f8c4af8f6e377edd92942848
--- /dev/null
+++ b/calib/vega_sharpa/26-08-21-finger-camera_extrinsic.json
@@ -0,0 +1,28 @@
+{
+  "T_base_camera": [
+    [
+      0.007284751678603041,
+      -0.6188477673336645,
+      0.7854772747634053,
+      -0.11527539290140056
+    ],
+    [
+      -0.9996869741587864,
+      0.014298243488114627,
+      0.020536500755247242,
+      0.009330396872288663
+    ],
+    [
+      -0.02393991873032314,
+      -0.7853809695269641,
+      -0.6185498327942689,
+      1.4652350556373461
+    ],
+    [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+    ]
+  ]
+}
diff --git a/calib/vega_sharpa/26-08-21-offset-camera-only_extrinsic.json b/calib/vega_sharpa/26-08-21-offset-camera-only_extrinsic.json
new file mode 100644
index 0000000000000000000000000000000000000000..1be7a8017d335a3d5f863d742bd750e9ef33e2c0
--- /dev/null
+++ b/calib/vega_sharpa/26-08-21-offset-camera-only_extrinsic.json
@@ -0,0 +1,28 @@
+{
+    "T_base_camera": [
+        [
+            -0.002846882602344003,
+            -0.617460584329857,
+            0.7865966762921736,
+            -0.10546467202555224
+        ],
+        [
+            -0.9999585679078389,
+            0.008559055229842922,
+            0.003099539557298721,
+            0.020219891147378564
+        ],
+        [
+            -0.00864637714128258,
+            -0.7865552910758095,
+            -0.6174593578856762,
+            1.4560515149760627
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ]
+}
\ No newline at end of file
diff --git a/calib/vega_sharpa/26-08-25-camera_extrinsic.json b/calib/vega_sharpa/26-08-25-camera_extrinsic.json
new file mode 100644
index 0000000000000000000000000000000000000000..55ea6ec1ab1ce63e6b4f960619a75feb7468fb89
--- /dev/null
+++ b/calib/vega_sharpa/26-08-25-camera_extrinsic.json
@@ -0,0 +1,100 @@
+{
+    "T_base_camera": [
+        [
+            0.0006840714788326994,
+            -0.6198688648015103,
+            0.7847051752379932,
+            -0.1070536682454791
+        ],
+        [
+            -0.9999535601225408,
+            0.007120804362609015,
+            0.006496765143281508,
+            0.017666115007588606
+        ],
+        [
+            -0.009614878907816619,
+            -0.7846731856961127,
+            -0.6198351042767325,
+            1.455865946146787
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "head": [
+        0.20617574453353882,
+        -0.027262043207883835,
+        0.015446163713932037
+    ],
+    "torso": [
+        0.8997172117233276,
+        1.569749116897583,
+        0.09930923581123352
+    ],
+    "method": "rgbd",
+    "stability": {
+        "first_half_cost": 50702.62890625,
+        "second_half_cost": 34117.04296875,
+        "first_half_T_camera_head_l3": [
+            [
+                0.03324984014034271,
+                -0.9994344711303711,
+                -0.005009229760617018,
+                0.016679245978593826
+            ],
+            [
+                0.0990888848900795,
+                0.00828384980559349,
+                -0.9950440526008606,
+                0.040169987827539444
+            ],
+            [
+                0.9945228695869446,
+                0.032588668167591095,
+                0.0993083268404007,
+                -0.011073080822825432
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        "second_half_T_camera_head_l3": [
+            [
+                0.03270482271909714,
+                -0.9994443655014038,
+                -0.006428075488656759,
+                0.016363516449928284
+            ],
+            [
+                0.08974216133356094,
+                0.00934201292693615,
+                -0.99592125415802,
+                0.043300557881593704
+            ],
+            [
+                0.9954279065132141,
+                0.03199459984898567,
+                0.0899978056550026,
+                -0.012767788954079151
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        "translation_disagreement_mm": 3.573820137915634,
+        "rotation_disagreement_deg": 0.5422104377163035,
+        "max_translation_mm": 15.0,
+        "max_rotation_deg": 3.0,
+        "passed": true
+    }
+}
\ No newline at end of file
diff --git a/calib/vega_sharpa/26-08-25-right_hand_mount.json b/calib/vega_sharpa/26-08-25-right_hand_mount.json
new file mode 100644
index 0000000000000000000000000000000000000000..335d2e8b89c54b49f58a3870d509508fb987ebcb
--- /dev/null
+++ b/calib/vega_sharpa/26-08-25-right_hand_mount.json
@@ -0,0 +1,41 @@
+{
+    "joint": "R_ee_to_right_hand",
+    "T_hand_mount": [
+        [
+            0.9925363676321842,
+            0.0816470644700532,
+            -0.09058319817125399,
+            -0.0010068696228512591
+        ],
+        [
+            -0.09026134791699565,
+            0.9913311755150092,
+            -0.09547454909156251,
+            6.070308947140423e-05
+        ],
+        [
+            0.0820027316600902,
+            0.10293812372222981,
+            0.9913018181587433,
+            -5.7983061542220285e-05
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "translation_mm": [
+        -1.0068696228512592,
+        0.06070308947140423,
+        -0.057983061542220285
+    ],
+    "rotation_deg": 9.037887463584726,
+    "hand_signed_median_mm_before": 15.085638046264648,
+    "hand_signed_median_mm_after": 3.0350685119628906,
+    "arm_signed_median_mm_before": -0.25628507137298584,
+    "arm_signed_median_mm_after": -0.25628507137298584,
+    "cost_before": 2.304877243936062,
+    "cost_after": 0.9996784520335495
+}
\ No newline at end of file
diff --git a/calib/vega_sharpa/26-08-27-camera_extrinsic.json b/calib/vega_sharpa/26-08-27-camera_extrinsic.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef332bada547fad664a764f8c87dd5ca0ceee220
--- /dev/null
+++ b/calib/vega_sharpa/26-08-27-camera_extrinsic.json
@@ -0,0 +1,28 @@
+{
+    "T_base_camera": [
+        [
+            -0.007542735642616039,
+            -0.6206532648627826,
+            0.7840488802928477,
+            -0.10258057577582314
+        ],
+        [
+            -0.9999202285362038,
+            0.012615102320341944,
+            0.00036646248585883636,
+            0.019808390334880445
+        ],
+        [
+            -0.010118298226359124,
+            -0.7839835660284779,
+            -0.6206989938597672,
+            1.456347201321665
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ]
+}
\ No newline at end of file
diff --git a/calib/vega_sharpa/26-08-27-right_hand_mount.json b/calib/vega_sharpa/26-08-27-right_hand_mount.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f2347b87f14ebd56890975d4917a5927d6b5771
--- /dev/null
+++ b/calib/vega_sharpa/26-08-27-right_hand_mount.json
@@ -0,0 +1,38 @@
+{
+    "joint": "R_ee_to_right_hand",
+    "T_hand_mount": [
+        [
+            0.9889631867408752,
+            0.08098132163286209,
+            -0.12407205253839493,
+            0.0
+        ],
+        [
+            -0.09778887778520584,
+            0.9858725070953369,
+            -0.13598816096782684,
+            0.0
+        ],
+        [
+            0.11130671948194504,
+            0.14662013947963715,
+            0.9829106330871582,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "translation_mm": [
+        0.0,
+        0.0,
+        0.0
+    ],
+    "rotation_deg": 11.798381933050614,
+    "source": "vega_finger_rgbd_calib_offset.py 2026-08-27, mount_rot, hand-only with frozen camera",
+    "hand_held_out_mm_before": 15.19,
+    "hand_held_out_mm_after": 7.06
+}
\ No newline at end of file
diff --git a/calib/vega_sharpa/26-08-30-camera_extrinsic.json b/calib/vega_sharpa/26-08-30-camera_extrinsic.json
new file mode 100644
index 0000000000000000000000000000000000000000..af10d942ebcb02a2a4348146b43d0fad04978db7
--- /dev/null
+++ b/calib/vega_sharpa/26-08-30-camera_extrinsic.json
@@ -0,0 +1,40 @@
+{
+    "T_base_camera": [
+        [
+            -0.009582078547666573,
+            -0.6234299678766319,
+            0.7818205359823094,
+            -0.1021223527095379
+        ],
+        [
+            -0.9999462809857657,
+            0.009079860992688406,
+            -0.005015160457969105,
+            0.02179184702150819
+        ],
+        [
+            -0.003972195653429267,
+            -0.7818265517198334,
+            -0.6234833882299178,
+            1.4552197250556003
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "head": [
+        0.20617574453353882,
+        -0.027262043207883835,
+        0.015446163713932037
+    ],
+    "torso": [
+        0.8997172117233276,
+        1.569749116897583,
+        0.09930923581123352
+    ],
+    "method": "rgbd depth+mask, arm-only stage-1 solve on SAM2-painted arm pixels; 20 poses / 5 held out; arm held-out 2.46 mm",
+    "source": "vega_finger_rgbd_calib_offset.py 2026-08-30, variant camera"
+}
\ No newline at end of file
diff --git a/calib/vega_sharpa/26-08-30-right_hand_mount.json b/calib/vega_sharpa/26-08-30-right_hand_mount.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcc09f9837d22fae4cf8b1550718ad70b575557d
--- /dev/null
+++ b/calib/vega_sharpa/26-08-30-right_hand_mount.json
@@ -0,0 +1,38 @@
+{
+    "joint": "R_ee_to_right_hand",
+    "T_hand_mount": [
+        [
+            0.9948288798332214,
+            0.021426446735858917,
+            -0.09927970170974731,
+            0.0
+        ],
+        [
+            -0.03364148736000061,
+            0.9918304085731506,
+            -0.12304751574993134,
+            0.0
+        ],
+        [
+            0.09583215415477753,
+            0.12575113773345947,
+            0.9874223470687866,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "translation_mm": [
+        0.0,
+        0.0,
+        0.0
+    ],
+    "rotation_deg": 9.234142153985337,
+    "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
+}
\ No newline at end of file
diff --git a/calib/vega_sharpa/26-08-30-tl-right_hand_mount.json b/calib/vega_sharpa/26-08-30-tl-right_hand_mount.json
new file mode 100644
index 0000000000000000000000000000000000000000..66b951708b61653016f8cfcb2d3110495e3e768f
--- /dev/null
+++ b/calib/vega_sharpa/26-08-30-tl-right_hand_mount.json
@@ -0,0 +1,38 @@
+{
+    "joint": "R_ee_to_right_hand",
+    "T_hand_mount": [
+        [
+            0.9999998807907104,
+            0.0004379814781714231,
+            9.18059449759312e-05,
+            -0.009597865864634514
+        ],
+        [
+            -0.00043803369044326246,
+            0.9999997615814209,
+            0.0005691862315870821,
+            -0.01779276877641678
+        ],
+        [
+            -9.155662701232359e-05,
+            -0.0005692263948731124,
+            0.9999998211860657,
+            0.008744752034544945
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "translation_mm": [
+        -9.597865864634514,
+        -17.79276877641678,
+        8.744752034544945
+    ],
+    "rotation_deg": 0.04196468319854214,
+    "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
+}
\ No newline at end of file
diff --git a/calib/xarm/25-02-19-camera_extrinsic.json b/calib/xarm/25-02-19-camera_extrinsic.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a015c4345fed5491f34c87f142ec6c1aaf6283f
--- /dev/null
+++ b/calib/xarm/25-02-19-camera_extrinsic.json
@@ -0,0 +1,28 @@
+{
+  "extrinsic": [
+    [
+      -0.031155821649563098,
+      0.4038902278216365,
+      -0.9142767626094012,
+      0.9742008973969014
+    ],
+    [
+      0.9995145174406919,
+      0.012397235206118018,
+      -0.028583876303699518,
+      0.43520611696844225
+    ],
+    [
+      -0.00021024424276983034,
+      -0.9147234513389447,
+      -0.40408039220918357,
+      0.35771409535956544
+    ],
+    [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+    ]
+  ]
+}
\ No newline at end of file
diff --git a/calib/xarm/25-02-19-camera_intrinsic.json b/calib/xarm/25-02-19-camera_intrinsic.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b57c68cc31f2717469d2dae0e70cfb186ec8087
--- /dev/null
+++ b/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
+  ]
+}
diff --git a/calib/xarm/25-04-15-camera_extrinsic.json b/calib/xarm/25-04-15-camera_extrinsic.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8105b40221375acce0a7af7b2e3386ecccbc96c
--- /dev/null
+++ b/calib/xarm/25-04-15-camera_extrinsic.json
@@ -0,0 +1,28 @@
+{
+  "extrinsic": [
+    [
+      -0.02077942470919769,
+      0.4108448284821487,
+      -0.9114684538799072,
+      0.9533780973575494
+    ],
+    [
+      0.999407502197619,
+      -0.016484197439800785,
+      -0.03021449628707834,
+      0.4110224459168109
+    ],
+    [
+      -0.027438295498645515,
+      -0.9115562506747674,
+      -0.41025887168456165,
+      0.3918434024823448
+    ],
+    [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+    ]
+  ]
+}
\ No newline at end of file
diff --git a/calib/xarm/25-04-21-camera_extrinsic.json b/calib/xarm/25-04-21-camera_extrinsic.json
new file mode 100644
index 0000000000000000000000000000000000000000..a96c80ec72fe18e8c6e11f17ceddeb305fce30e0
--- /dev/null
+++ b/calib/xarm/25-04-21-camera_extrinsic.json
@@ -0,0 +1,28 @@
+{
+  "extrinsic": [
+    [
+      0.023998800979200485,
+      0.40812885277449,
+      -0.9126088412263709,
+      0.954427446834031
+    ],
+    [
+      0.9995311416521842,
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+      0.0,
+      0.0,
+      0.0,
+      1.0
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+  ]
+}
\ No newline at end of file
diff --git a/calib/xarm/25-08-28-camera_extrinsic.json b/calib/xarm/25-08-28-camera_extrinsic.json
new file mode 100644
index 0000000000000000000000000000000000000000..bac617ed44badf6348c6507743cf4da65b56805f
--- /dev/null
+++ b/calib/xarm/25-08-28-camera_extrinsic.json
@@ -0,0 +1,28 @@
+{
+  "extrinsic": [
+    [
+      -0.07149069647430972,
+      0.41175717887992236,
+      -0.9084850609440233,
+      0.9789911225161087
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+      -0.07972355138812509,
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+      -0.9112892094386842,
+      -0.41024267134904335,
+      0.3762685838122122
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+    [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+    ]
+  ]
+}
diff --git a/calib/xarm/25-09-29-camera_extrinsic.json b/calib/xarm/25-09-29-camera_extrinsic.json
new file mode 100644
index 0000000000000000000000000000000000000000..29195b9806a7dfb56d410882a252e5ede960a3ae
--- /dev/null
+++ b/calib/xarm/25-09-29-camera_extrinsic.json
@@ -0,0 +1,8 @@
+{
+  "extrinsic": [
+    [-0.09153444,  0.41425177, -0.9055479 ,  0.96849483],
+       [ 0.9954727 ,  0.01468398, -0.09390681,  0.46689937],
+       [-0.02560399, -0.91004395, -0.41372037,  0.3825975 ],
+       [ 0       ,  0      ,  0      ,  1     ]   
+  ]
+}
diff --git a/calib/xarm/25-10-19-camera_extrinsic.json b/calib/xarm/25-10-19-camera_extrinsic.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe2ca192fb2bda4fc31e1a9d25ac4f43e0b71003
--- /dev/null
+++ b/calib/xarm/25-10-19-camera_extrinsic.json
@@ -0,0 +1,9 @@
+{
+    "extrinsic": [
+      [-0.07688881,  0.4107697 , -0.90849125,  0.9796929 ],
+         [ 0.9967894 ,  0.01125226, -0.079274  ,  0.4641986 ],
+         [-0.02234075, -0.91166973, -0.4103162 ,  0.39597672],
+         [ 0       ,  0       ,  0       ,  1       ]   
+    ]
+}
+  
\ No newline at end of file
diff --git a/calib/xarm/25-11-29-camera_extrinsic.json b/calib/xarm/25-11-29-camera_extrinsic.json
new file mode 100644
index 0000000000000000000000000000000000000000..34e89cc5d368f3543832eaf5514c05dee6ef28f3
--- /dev/null
+++ b/calib/xarm/25-11-29-camera_extrinsic.json
@@ -0,0 +1,9 @@
+{
+    "extrinsic": [
+        [-0.08202339,  0.40685102, -0.90980476,  0.9803518 ],
+        [ 0.99636626,  0.01245684, -0.08425672,  0.46326783],
+        [-0.02294657, -0.9134097 , -0.4063945 ,  0.39412707],
+        [ 0       ,  0       ,  0      ,  1       ]
+    ]
+}
+  
\ No newline at end of file
diff --git a/calib/xarm/26-03-24-camera_extrinsic.json b/calib/xarm/26-03-24-camera_extrinsic.json
new file mode 100644
index 0000000000000000000000000000000000000000..61966a582a9412fb5233e5b426cb7611d75a3ddf
--- /dev/null
+++ b/calib/xarm/26-03-24-camera_extrinsic.json
@@ -0,0 +1,8 @@
+{
+  "extrinsic": [
+    [-0.14814395, 0.40680555, -0.90142260, 0.97883840],
+    [0.98762990, 0.01349430, -0.15622172, 0.46411803],
+    [-0.05138781, -0.91341513, -0.40377240, 0.39359424],
+    [0.0, 0.0, 0.0, 1.0]
+  ]
+}
\ No newline at end of file
diff --git a/calib/xarm/26-05-12-camera_pose.json b/calib/xarm/26-05-12-camera_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..42298ad7e7e980dd436882fa813d10baf78fc7ad
--- /dev/null
+++ b/calib/xarm/26-05-12-camera_pose.json
@@ -0,0 +1,28 @@
+{
+    "T_base_camera": [
+        [
+            0.03750674054026604,
+            0.25239309668540955,
+            -0.9668976068496704,
+            0.996498703956604
+        ],
+        [
+            0.998119056224823,
+            0.037491314113140106,
+            0.048504360020160675,
+            0.400687575340271
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+            0.048492420464754105,
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+            0.4019123315811157
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+            0.0,
+            0.0,
+            0.0,
+            1.0
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+    ]
+}
\ No newline at end of file
diff --git a/calib/xarm/26-05-13-camera_pose.json b/calib/xarm/26-05-13-camera_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f8e4ad47abeb3ca738c670be35c7da90b3bc90a
--- /dev/null
+++ b/calib/xarm/26-05-13-camera_pose.json
@@ -0,0 +1,28 @@
+{
+    "T_base_camera": [
+        [
+            0.0488237701356411,
+            0.3172890245914459,
+            -0.9470711350440979,
+            0.993302583694458
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+            0.9971660375595093,
+            0.03885231539607048,
+            0.06442251801490784,
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+            0.0,
+            0.0,
+            0.0,
+            1.0
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+}
\ No newline at end of file
diff --git a/calib/xarm/26-05-16-camera_pose.json b/calib/xarm/26-05-16-camera_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..12efd21cd19600c7fa220f334d217e4102136c13
--- /dev/null
+++ b/calib/xarm/26-05-16-camera_pose.json
@@ -0,0 +1,28 @@
+{
+    "T_base_camera": [
+        [
+            0.0,
+            0.5086081616894257,
+            -0.8609981056093579,
+            0.9964999999999999
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+            1.0,
+            0.0,
+            0.0,
+            0.0
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+            -0.5086081616894257,
+            0.4019
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+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
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+}
\ No newline at end of file
diff --git a/calib/xarm/26-06-21-camera_pose.json b/calib/xarm/26-06-21-camera_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..910882102c445729112f34b0178aa1aea38459f6
--- /dev/null
+++ b/calib/xarm/26-06-21-camera_pose.json
@@ -0,0 +1,28 @@
+{
+    "T_base_camera": [
+        [
+            -0.10384479910135269,
+            0.39815959334373474,
+            -0.9114192724227905,
+            1.0011587142944336
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+            0.4245612919330597
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+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
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+}
diff --git a/calib/xarm_209/26-05-18-camera_pose.json b/calib/xarm_209/26-05-18-camera_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..d424bb5134a8b30bd4feca5d62e45b965f50c267
--- /dev/null
+++ b/calib/xarm_209/26-05-18-camera_pose.json
@@ -0,0 +1,28 @@
+{
+    "T_base_camera": [
+        [
+            0.541934609413147,
+            0.3888866603374481,
+            -0.7450329661369324,
+            0.9991657733917236
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+            0.4059990644454956
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+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ]
+}
\ No newline at end of file
diff --git a/data/isaac/appearance/native_appearance/Wood052_1K_Color.png b/data/isaac/appearance/native_appearance/Wood052_1K_Color.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec2aca760118ff5a3aa62a68fecddb186edcf824
--- /dev/null
+++ b/data/isaac/appearance/native_appearance/Wood052_1K_Color.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbe5332110b3929fa1d3a0489abac4e4e02e57e3c6274a1033ef61bb6fc6ad40
+size 1393579
diff --git a/data/isaac/appearance/native_appearance/Wood052_1K_NormalGL.png b/data/isaac/appearance/native_appearance/Wood052_1K_NormalGL.png
new file mode 100644
index 0000000000000000000000000000000000000000..88a278cbd69dd1289ed107e6d90a15dc5e7a7fde
--- /dev/null
+++ b/data/isaac/appearance/native_appearance/Wood052_1K_NormalGL.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1477a29c566b8f46bee45fabc3a363a4e28c2a6f9414c4882b1530a3cc6120b8
+size 1427496
diff --git a/data/isaac/appearance/native_appearance/Wood052_1K_Roughness.png b/data/isaac/appearance/native_appearance/Wood052_1K_Roughness.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a8b969390ae819a0b44c7116f0086b519a73fda
--- /dev/null
+++ b/data/isaac/appearance/native_appearance/Wood052_1K_Roughness.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:896f88f6044789231fe03353070199c6c2e7e3bd88e461e58bc425e202f1d94e
+size 948628
diff --git a/data/isaac/appearance/native_appearance/dev_object_visuals.h5 b/data/isaac/appearance/native_appearance/dev_object_visuals.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8937219215c616405718be17d92b33b2a40f0cf8
--- /dev/null
+++ b/data/isaac/appearance/native_appearance/dev_object_visuals.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d6889e7825e466595d21c37f95216940c792fcdef455f18ac05026d97b0c107
+size 154400
diff --git a/data/isaac/appearance/native_appearance/manifest.json b/data/isaac/appearance/native_appearance/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cb616eae88559e92fd3bef6751e1731fae40cc8
--- /dev/null
+++ b/data/isaac/appearance/native_appearance/manifest.json
@@ -0,0 +1,126 @@
+{
+  "table_glb_sha256": "cb0ebd8ad6438c1160f095d902bf55415f9d643f8c6990a186a052251fe7951a",
+  "table_glb_bytes": 3891588,
+  "native_box_size": [
+    2.418,
+    1.209,
+    0.9196429
+  ],
+  "native_visual_scale": 1.75,
+  "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
+    },
+    {
+      "node": "tableleg.002",
+      "material_index": 1,
+      "vertices": 343,
+      "faces": 192
+    },
+    {
+      "node": "tableleg.026",
+      "material_index": 1,
+      "vertices": 24,
+      "faces": 12
+    },
+    {
+      "node": "tabletop.026",
+      "material_index": 0,
+      "vertices": 222,
+      "faces": 140
+    }
+  ],
+  "textures": [
+    {
+      "image_index": 0,
+      "file": "Wood052_1K_NormalGL.png",
+      "size": [
+        1024,
+        1024
+      ],
+      "source_encoding": "image/jpeg",
+      "export_bytes": 1427496,
+      "decoded_pixels_identical": true
+    },
+    {
+      "image_index": 1,
+      "file": "Wood052_1K_Color.png",
+      "size": [
+        1024,
+        1024
+      ],
+      "source_encoding": "image/jpeg",
+      "export_bytes": 1393579,
+      "decoded_pixels_identical": true
+    },
+    {
+      "image_index": 2,
+      "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": [
+      {
+        "direction": [
+          1,
+          1,
+          -1
+        ],
+        "rgb": [
+          1,
+          1,
+          1
+        ],
+        "shadows": "native enable_shadow"
+      },
+      {
+        "direction": [
+          0,
+          0,
+          -1
+        ],
+        "rgb": [
+          1,
+          1,
+          1
+        ],
+        "shadows": false
+      }
+    ],
+    "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.",
+  "separate_visual_path_counts": {
+    "dev": 0,
+    "test": 200
+  },
+  "file_sha256": {
+    "Wood052_1K_NormalGL.png": "1477a29c566b8f46bee45fabc3a363a4e28c2a6f9414c4882b1530a3cc6120b8",
+    "Wood052_1K_Roughness.png": "896f88f6044789231fe03353070199c6c2e7e3bd88e461e58bc425e202f1d94e",
+    "Wood052_1K_Color.png": "dbe5332110b3929fa1d3a0489abac4e4e02e57e3c6274a1033ef61bb6fc6ad40",
+    "table_source.glb": "cb0ebd8ad6438c1160f095d902bf55415f9d643f8c6990a186a052251fe7951a",
+    "table_visual.h5": "068728e3067557cf86beff1b64cd6e0c57b55297275f2028d46d8445d3d2ba6f",
+    "dev_object_visuals.h5": "7d6889e7825e466595d21c37f95216940c792fcdef455f18ac05026d97b0c107"
+  }
+}
diff --git a/data/isaac/appearance/native_appearance/table_source.glb b/data/isaac/appearance/native_appearance/table_source.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4b0f62f663f2708d0c22c5465f58c63f9a9e79a6
--- /dev/null
+++ b/data/isaac/appearance/native_appearance/table_source.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb0ebd8ad6438c1160f095d902bf55415f9d643f8c6990a186a052251fe7951a
+size 3891588
diff --git a/data/isaac/appearance/native_appearance/table_visual.h5 b/data/isaac/appearance/native_appearance/table_visual.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9a2f6a6c3759f2e8eba1b9b2225a815ab712e62b
--- /dev/null
+++ b/data/isaac/appearance/native_appearance/table_visual.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:068728e3067557cf86beff1b64cd6e0c57b55297275f2028d46d8445d3d2ba6f
+size 3828663
diff --git a/data/isaac/appearance/native_robot_materials/aloha_camera_material_mapping.json b/data/isaac/appearance/native_robot_materials/aloha_camera_material_mapping.json
new file mode 100644
index 0000000000000000000000000000000000000000..67c0c9945ddf47eff0806262ccb2114f113c589f
--- /dev/null
+++ b/data/isaac/appearance/native_robot_materials/aloha_camera_material_mapping.json
@@ -0,0 +1,331 @@
+{
+  "source_GLBF_sha256": "02215de43116686377e8491cfcaf2a78d30fb90c499759bd6c5ddd13c277758a",
+  "native_snapshot_source": {
+    "uri": "runs/five_robot_checkpoints_20261013/diagnostics/native_material_snapshot/agilex_aloha/materials.json",
+    "sha256": "eb35821336ebf574f7fc71c133d41c26707114e7d732700363382796e53d00fb",
+    "native_revision": "ddd4393eb801b25c62cee612b2a0679d785ad9c5"
+  },
+  "all16_groups_mapped_exactly_once": true,
+  "total_faces": 230897,
+  "matching_method": "Concatenated baked GLB geometry float32 vertices and uint32 triangle indices reproduce each native SAPIEN material part byte-for-byte; no color/facecount heuristic.",
+  "parts": [
+    {
+      "native_part": 0,
+      "link": "right_camera",
+      "source_OBJ_groups": [
+        {
+          "OBJ_group": "ID11-mesh",
+          "faces": 1416,
+          "vertices": 3015,
+          "original_gltf_material_index": 0
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+          "vertices": 3004,
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+          "faces": 712,
+          "vertices": 1408,
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+      ],
+      "native_effective_material": {
+        "link": "right_camera",
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+        "part_index": 0,
+        "base_color": [
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+          0.8980392217636108,
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+        "metallic": 0.0,
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+        "ior": 1.0099999904632568,
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+        "base_color_texture": false,
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+        "vertices_sha256": "f3b28734d0136a44fe876ccf44f372b7eed269e9aacd1334ea3fc2fa3457add7",
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+}
diff --git a/data/isaac/appearance/native_robot_materials/contract.json b/data/isaac/appearance/native_robot_materials/contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff32bcfd4d4f86f64e65c6cb196888034f850164
--- /dev/null
+++ b/data/isaac/appearance/native_robot_materials/contract.json
@@ -0,0 +1,24294 @@
+{
+  "native_revision": "ddd4393eb801b25c62cee612b2a0679d785ad9c5",
+  "robokit_revision": "df4cb96269c6c3e7d2ec332ea86eb4846ef7fc23",
+  "color_contract": "URDF RGBA and glTF baseColorFactor are preserved as exact linear floating point values; no conversion to uint8 or gamma correction. Textures retain their own glTF color-space semantics.",
+  "native_urdf_material_defaults": {
+    "roughness": 1.0,
+    "metallic": 0.0,
+    "specular": 0.0,
+    "ior": 1.45,
+    "source": "SAPIEN render.pyi RenderMaterial defaults; actual native material getter snapshots are authoritative for imported GLB materials."
+  },
+  "robots": {
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+      "robot_config_name": "arx_x5_arm",
+      "visuals": [
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+          "sdk_bindings_for_link": [
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+              "link": "base_link",
+              "material": "/arx_x5/Geometry/base_link/mesh/VisualMaterials/black",
+              "shader": "/arx_x5/Geometry/base_link/mesh/VisualMaterials/black/PreviewSurface",
+              "shader_id": "UsdPreviewSurface",
+              "material_inputs": {
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+                "metallic": "0.0",
+                "opacity": "1.0",
+                "roughness": "0.5",
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+                  "connections": [
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+                  ]
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+                "opacity": {
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+                  "connections": [
+                    "/arx_x5/Geometry/base_link/mesh/VisualMaterials/black.inputs:opacity"
+                  ]
+                },
+                "roughness": {
+                  "value": "None",
+                  "connections": [
+                    "/arx_x5/Geometry/base_link/mesh/VisualMaterials/black.inputs:roughness"
+                  ]
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+              "link": "link1",
+              "material": "/arx_x5/Geometry/base_link/link1/mesh/VisualMaterials/black",
+              "shader": "/arx_x5/Geometry/base_link/link1/mesh/VisualMaterials/black/PreviewSurface",
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+                "roughness": "0.5",
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+                  ]
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+                "roughness": {
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+                  ]
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+              "shader": "/arx_x5/Geometry/base_link/link1/link2/mesh/VisualMaterials/black/PreviewSurface",
+              "shader_id": "UsdPreviewSurface",
+              "material_inputs": {
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+                "roughness": "0.5",
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+              "shader_inputs": {
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+                  ]
+                },
+                "metallic": {
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+                  "connections": [
+                    "/arx_x5/Geometry/base_link/link1/link2/mesh/VisualMaterials/black.inputs:metallic"
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+                "opacity": {
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+                  "connections": [
+                    "/arx_x5/Geometry/base_link/link1/link2/mesh/VisualMaterials/black.inputs:opacity"
+                  ]
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+                "roughness": {
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+              "link": "link3",
+              "material": "/arx_x5/Geometry/base_link/link1/link2/link3/mesh/VisualMaterials/white",
+              "shader": "/arx_x5/Geometry/base_link/link1/link2/link3/mesh/VisualMaterials/white/PreviewSurface",
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+                "metallic": {
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+                "opacity": {
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diff --git a/data/isaac/appearance/native_robot_materials/rgb_obj_uv_export_validation.json b/data/isaac/appearance/native_robot_materials/rgb_obj_uv_export_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..dffb97d026be775776486867dd7bdc573101969d
--- /dev/null
+++ b/data/isaac/appearance/native_robot_materials/rgb_obj_uv_export_validation.json
@@ -0,0 +1,830 @@
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diff --git a/data/object_data/dexgraspnet_official_splits/train.txt b/data/object_data/dexgraspnet_official_splits/train.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ff93be111f9c1df47c84033bd5732a112bb9dadf
--- /dev/null
+++ b/data/object_data/dexgraspnet_official_splits/train.txt
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diff --git a/policies/skill/README.md b/policies/skill/README.md
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+# ARX X5 open-loop grasp policy
+
+An open-loop generator and a learned ranker for the ARX X5.
+
+| File | Role |
+| --- | --- |
+| `arx_x5/v3L_12k.pt` | generator (`graspkit.policies.arx_x5_openloop.load_policy`) |
+| `arx_x5/ranker_div5.pt` | ranker (`rank="ranker_reach"`) |
+
+`graspkit.assets.policies.skill_policy_paths` downloads both.
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