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---
license: mit
---
# Assets for DiPGrasp: Parallel Local Searching for Efficient Differentiable Grasp Planning
[**Paper**](https://arxiv.org/abs/2408.04738)|[**Project Page**](dipgrasp.robotflow.ai)
This repository contains the essential assets and object mesh files of the paper: DiPGrasp: Parallel Local Searching for Efficient Differentiable Grasp Planning
## Download
To download the assets, use the following shell snippet:
```
git lfs install
git clone https://huggingface.co/datasets/robotflow/dipgrasp
```
## Assets Structure
By downloading the assets into the repository of DipGrasp under the folder './assets', and it should be look like:
```
dipgrasp
├── assets
├── gripper
│ │ ├── descrption
│ │ │ ├── barrett_hand
│ │ │ ├── schunk_svh_description
│ │ │ └── sr_grasp_description
│ │ ├── barrett.urdf
│ │ ├── barrett.xml
│ │ ├── ...
├── object
│ ├── class
│ │ ├── bowl
│ │ │ ├── bowl0
│ │ │ ├── bowl1
│ │ │ ├── ...
│ │ │ └── bowl9
│ │ ├── box
│ │ ├── drink
│ │ ├── sauce
│ │ └── tableware
│ └── single
│ ├── apple.ply
│ ├── bowl.ply
│ ├── ...
├── rfu
│ ├── linux
│ │ ├── GraspTest_Data
│ │ ├── GraspTest.x86_64
│ │ └── UnityPlayer.so
│ └── windows
└── xml_generator
├── xml_from_URDF_Linux.tar.gz
└── xml_from_URDF_Windows.zip
``` |