The dataset consists of a set of computer-generated images for the four objects (TV frame, green PCB, yellow PCB, and screwdriver) involved in the TV assembly task of CoLLaboratE. For every frame a pair of rgb and depth image, the mask for each object, object poses and the corresponding camera pose are stored. In total there are 3700 different poses for every object, and in addition to that 17 different backgrounds were used to augment the RGB image collection, resulting in a total of 62900 rgb images. Regarding the acquisition of the data, the virtual camera was set to simulate a real camera (Astra RGBD camera) initially used in the CoLLaboratE task of a TV assembly. Thus, the rgb, and depth images (640x480) and the corresponding segmentation masks were extracted for all the animation frames (3700 different camera positions x 17 different backgrounds).