6DAPose dataset contains an object assembly in an ordered manner following its assembly steps. Each dataset contains 431 simulated view samples of the assembly for each assembly step. For each view sample, RGB and Depth Image, Segmentation map, ground truth values for 6D object pose and camera pose and model information are recorded following the BOP format . There are two datasets representing a 3-step fidget gear assembly and a 4-step Nema17 gear reducer assembly.

2023