---
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    

```