---
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    

```