Ambidextrous grasp data collected incrementally over the course of three months using a dual arm Yumi robot with parallel gripper and suction cup. Equipment used during the data collection:- Yumi IRB-14000s, dual arm robot with suction cup and parallel gripper end-effectors- Phoxi depth camera Annotation is done automatically by comparing the side bin images before and after the grasp is executed. Outliers approximated percentage is in the range 1~2% Low quality samples fall in the range 5~10% Label index name notes [0:3] Grasp center point (x,y,z) [3] Score (Ground truth) one for success and zero for failure [4] Using the parallel gripper head One if parallel gripper head is used to execute the grasp [5:21] [4*4] grasp pose transformation matrix Only when parallel gripper is used [21] Opening width [22] Approach distance [23] Using the suction head One if suction head is used to execute the grasp [24:27] Estimated normal direction The approach direction for the suction head