VT-Grasp-Sim-Assets

This staging directory contains the simulation assets needed by the public visual-tactile grasping releases:

• SGA-GSN uses the GraspNet VHACD object visualization meshes for complete-shape point sampling.
• Single-step grasp refinement RL uses object URDF/collision assets, a GSmini tactile sensor configuration, and a Panda hand with GSmini tactile fingertips.

This is a multi-license asset release. Redistribution is allowed under the source-specific conditions recorded in provenance.csv, LICENSES/, and metadata/license_review.md. In particular, GraspNet-derived assets are non-commercial, and GSrobotics-derived robot assets follow GPL-3.0 terms.

Contents

object_models/graspnet-vhacd/
  model/<object_id>/{object.urdf,collision.obj,collision.mtl,visualization.obj,visualization.mtl,texture.*}
  table/{table.urdf,table.obj,table.mtl,table.png}
tactile_configs/gsmini/
  config_gsmini.yml
  bg_gsmini_240_320.jpeg
robot_models/gsmini_panda_hand/
  urdf/
  meshes/
  xacro/
metadata/
  required_by_sgagsn.json
  required_by_rl.json
  license_review.md
LICENSES/
  source-specific license notes
examples/
  restore_for_sgagsn.sh
  restore_for_rl.sh

Restore for SGA-GSN

SGA-GSN expects the object model directory at:

/SGA-GSN/data/graspnet-vhacd

Restore it with a symlink:

bash examples/restore_for_sgagsn.sh /path/to/VT-Grasp-Sim-Assets /SGA-GSN

Use --copy instead of the default symlink mode only when symlinks are not suitable for the target environment.

Restore for RL

The single-step RL code expects:

/rl-grasp-refine/src/envs/object_model
/rl-grasp-refine/src/envs/assets/tacto
/rl-grasp-refine/src/envs/assets/gsmini_panda_hand

Restore them with:

bash examples/restore_for_rl.sh /path/to/VT-Grasp-Sim-Assets /rl-grasp-refine

Provenance and License Status

See provenance.csv and metadata/license_review.md.

Current release status:

• TACTO config: derived from Facebook TACTO config and retains the MIT header.
• GraspNet VHACD object assets: derived from GraspNet-1Billion object assets; collision meshes were adapted with V-HACD, while visualization meshes remain from the original assets. Released under GraspNet's CC BY-NC-SA-style non-commercial redistribution terms.
• Franka/Panda description assets: derived from Franka description assets under Apache-2.0, with local parameter changes.
• GSmini / GSrobotics-derived assets: follow GPL-3.0 terms.
• GSmini background image: self-owned release asset, CC BY 4.0.
• TACTO software repository: not bundled here. It remains a software dependency and should be installed by the code environment.
• robot_models/gsmini_panda_hand/xacro/panda_arm.urdf is intentionally excluded because it is a generated non-runtime file with mesh references that are not valid in this release layout. The RL runtime entry is urdf/hand_gsmini.urdf.

Checksums

Verify downloaded or restored files with:

sha256sum --check checksums.sha256