A few things about that circuit look odd to me. First, the rather high value (100 ohm) gate series resistors with dioes in parallel. Looks like the designer was trying to achieve slow turn-on but fast turn-off. I can't see why that was done, given that the HIP4081A provides adjustable dead-time. I would ditch the diodes (as in the schematic of the evaluation board on the datasheet) and use lower value resistors, around 10 ohms or even less. Second, I can't see that the 10K + 330nF snubber network in parallel with the motor serves any useful purpose, because 10K is far too high a value.