Dataset retrieved from: https://berkeley.app.box.com/s/6mnb2bzi5zfa7qpwyn7uq5atb7vbztng/folder/40676204986
Jeffrey Mahler, Jacky Liang, Sherdil Niyaz, Michael Laskey, Richard Doan, Xinyu Liu, Juan Aparicio Ojea, and Ken Goldberg. "Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics." Robotics, Science, and Systems, 2017. Cambridge, MA.