Full Dataset (2.5 GB): zip file containing all JSON files, individual videos, and summarized videos for all objects.

All Labeled Grasps (478 kB): zip file containing 21 JSON files, with 125 attempted grasps per object. Also contains a readme.txt file that describes the contents of each JSON file.

Individual Grasp Videos (1.3 GB): zip file containing individual videos for all attempted grasps. Also contains a readme.txt file that describes the file structure and naming conventions for the videos.

Summarized Grasp Videos (1.2 GB): zip file containing summary videos for each object (all grasps concatenated with labels for attempt and trial number).