We propose here a new video dataset consisting in a set of video clips of reach-to-grasp actions performed by children with Autism Spectrum Disorders (ASD) and IQ-matched typically developing (TD) children. Children of the two groups were asked to grasp a bottle, in order to perform four different subsequent actions (placing, pouring, passing to pour, and passing to place). Motivated by recent studies in psychology and neuroscience, we attempt to classify whether actions are performed by a TD or an ASD child, by only processing the part of video data recording the grasping gesture. In our work the only exploitable information is conveyed by the kinematics, being the surrounding context totally uninformative. For a detailed description of the problem and the dataset, please refer to the paper.