---
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).