---
license: mit
tags:
  - robotics
  - imitation-learning
  - simulation-assets
pretty_name: TAVIS Robot and Task Assets
---

# TAVIS robot and task assets

USD models, meshes, and textures for the TAVIS benchmark -- the robot
articulations (Fourier GR1T2, Pollen Reachy 2, Robotiq 2F-85
grippers) and the task assets (YCB objects, packing table) used by
the eight TAVIS tasks.

This bundle is fetched at runtime by
[`tavis.download_assets`](https://huggingface.co/tavis-benchmark)
on the first construction of a `make_tavis_env(...)` environment.

## Versioning

The asset bundle's version is tracked separately from the code
(`tavis._version.__assets_version__`). The downloader pulls
`main` by default; once a tagged release exists, set
`HF_REVISION` in `tavis/download_assets.py` to pin.

## Licensing & attribution

See `CREDITS.md` for per-asset attribution. All third-party content
is redistributed under the original upstream licenses.