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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
``` |