The dataset include the step File for the grippers, shown in the paper: Evaluation of different hardware solutions for multiple objects grasping. https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2024.1351932/full The constriction gripper step file includes all files to rebuild the gripper. To use the lc_soft_enable_grip at qbrobotic advance cube has to be installed under the gripper mechanic. The hybrid compliant gripper and the palmhand include only the outer shell, due to patent protection of the finger parts.