---
pretty_name: AssemblyBench
configs:
  - config_name: default
    data_files:
      - split: full
        path: data/*.parquet
---
# AssemblyBench

2,789 assemblies, 18,687 normalized source part meshes and
130,853 embedded PNGs, with multimodal manuals, poses and complete motions.
One assembly per row. All payloads are embedded in Parquet.

```python
from datasets import load_dataset
objects = load_dataset("AssemblyWorld/assemblybench", split="all")
sample = objects[0]
```

Requires datasets >= 5.0.1 and Pillow. Pin `revision` for reproducibility; use the
prepared local directory instead of the Hub ID for offline loading.

## Contents and coordinates

- `parts`: source IDs, names, float64 vertices, polygons, normals, corner normal
  indices and similar-part IDs. Meshes are the supplied **objs_normalized**.
- `assembly_order`, `steps`: original order, cumulative part IDs and indices into
  `manual` and `manual_pages`.
- `manual`: original JSON records, including original shape IDs and every text
  detail level. Missing optional descriptions stay absent; no embeddings are stored.
- `poses`: original view/step/part JSON mapping, preserving all source values.
- `motions`: per-part `frames`, preserving the full original sequence of poses.
- `manual_pages`: all diagram and arrow PNGs, source filenames, dimensions, kind,
  view and step IDs. PNG bytes are unchanged and decode to PIL images.
- `source_splits`, `source_metadata`: original membership and provenance.

We do not transform the supplied geometry. Upstream generation centers, PCA-aligns
and scales part meshes. Both poses and motion frames use
`[tx, ty, tz, qw, qx, qy, qz]`: apply quaternion rotation to a source mesh vertex,
then add translation to obtain its position in the source world frame. The source
provides pose view `"0"`; do not infer poses for the additional image views.
No physical unit conversion is assumed. Motions are indexed frames, not timestamped
robot commands. In this release each part has 12 frames.

The source image folders include extra PNGs beyond the regular step/view grid.
They are retained with their original filenames; an unparseable filename has null
view/step IDs, and pages outside the assembly step range have no step reference.
No page numbers or geometry are repaired. Source point clouds, masks, embeddings,
checkpoints, the unrelated point-cloud screenshot in object 8005, and macOS
metadata are excluded.

## Splits

The stored split is `full`; `all` selects it. `source_splits` preserves the official
partition: train 2,231, val 278, test 280. Filter using `source_splits`; no new
random split is created.

## Source and rights

Converted from [AssemblyBench v1](https://zenodo.org/records/19742725), archive SHA-256
`8f46d59dc7692822043efa28de77f98996aa736b76a97982d51c255ea6c06c5b`. See [official code](https://github.com/merlresearch/AssemblyBench)
revision `a1ed6b8b70b963fc582744ae06eaad4de5633cfa` for coordinate conventions. New annotations and
modifications are CC BY-SA 4.0, copyright MERL 2026. Original Assemble-Them-All data
retains its MIT terms and underlying Fusion 360 Gallery assets retain their source
restrictions. This is a converted portion/modified set of the Fusion 360 Gallery
Dataset, not the complete original Gallery Dataset. Underlying asset access, use,
modification and redistribution are limited to **non-commercial research** under
[the Fusion 360 Gallery Dataset License](https://github.com/AutodeskAILab/Fusion360GalleryDataset/blob/master/LICENSE.md).
Those terms apply to downstream recipients and redistribution, including retained
notices, Autodesk warranty exclusions and indemnification obligations. The
annotation license does not remove underlying asset restrictions. The converter's
MIT code license does not relicense these assets.
This release changes storage format and embeds the selected source assets.

Please cite Li, Zhang, Egger, Chatterjee, Lohit, Marks and Cherian,
*AssemblyBench: Physics-Aware Assembly of Complex Industrial Objects*, CVPR 2026.
Schema version 1; conversion version 1.