We are releasing a teaser data set of N objects for the Million Object Challenge. This data consists of objects mapped using Baxters at our site. We include objects from the YCB data set, as well as other objects arranged into several object categories.
Download the data here: http://cs.brown.edu/~stefie10/mocTeaserData2016-02-22.tar.gz.
The archive contains a stand-alone python program to show how to read and parse the data.