So, to obtain the generalized partial credit models, just add the rating intercept to the respective category intercepts.
> mod <- mirt(Science, 1, 'grsm')
Iteration: 20, Log-Lik: -1621.351, Max-Change: 0.00009
> (items <- coef(mod, simplify=TRUE)$items)
a1 d1 d2 d3 c
Comfort 0.832 4.53 2.201 -1.23 0.000
Work 1.399 4.53 2.201 -1.23 -1.242
Future 1.672 4.53 2.201 -1.23 -0.364
Benefit 1.499 4.53 2.201 -1.23 -0.895
> (graded_ds <- items[,2:4] + items[,5])
d1 d2 d3
Comfort 4.530 2.201 -1.230
Work 3.288 0.959 -2.472
Future 4.166 1.837 -1.594
Benefit 3.635 1.306 -2.125
Of course, this is for the graded rating scale model, but the idea is the same for the rsm (the rsm itemtype is currently offline and commented out due to an unfinished/slow derivative term that is currently being evaluated numerically. I haven't gotten around to fixing yet). Cheers.