All YCB models are under [Creative Commons Attribution 4.0 International (CC BY 4.0)](https://creativecommons.org/licenses/by/4.0/legalcode.txt) licence. (see [http://ycb-benchmarks.s3-website-us-east-1.amazonaws.com/])

All original 3D models from the Graspnet to the graspnet team, MVIG, SJTU and are licensed under an [Attribution-NonCommercial-ShareAlike 4.0 International](https://en.wikipedia.org/wiki/Creative_Commons_NonCommercial_license) licence. They are freely available for free non-commercial use, and may be redistributed under these conditions. For commercial queries, please drop an email at fhaoshu at gmail.com and cc lucewu at sjtu.edu.cn .  (see [https://graspnet.net/datasets.html])

All egad models are under BSD 3-Clause License (see [https://github.com/dougsm/egad/blob/master/LICENSE])

All kit models come from the [KIT ObjectModels Web Database](https://h2t-projects.webarchiv.kit.edu/). According to [KIT ObjectModels Web Database](https://h2t-projects.webarchiv.kit.edu/) : "You are free to use the object models for your own research or other non-commercial purposes. [...] When using the object data, please also keep in mind that the data compilation and the underlying research have been funded by the German Collaborative Research Center 588 "Humanoid Robots" and by the German Service Robotics Initiative "Desire". The relevant publications can be found in the publications section."

In contrast with original datasets, models have undergone various postprocessing steps (filtering, renaming, texture deletion, mesh simplification, shape augmentations,  change of storage format)


Grasping poses and annotations and code are made available under Apache Licences, Version 2.0