diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..bed0738c7eeb449bca98b5d2f33c89a1ee56349a --- /dev/null +++ b/.gitattributes @@ -0,0 +1,60 @@ +*.7z filter=lfs diff=lfs merge=lfs -text +*.arrow filter=lfs diff=lfs merge=lfs -text +*.avro filter=lfs diff=lfs merge=lfs -text +*.bin filter=lfs diff=lfs merge=lfs -text +*.bz2 filter=lfs diff=lfs merge=lfs -text +*.ckpt filter=lfs diff=lfs merge=lfs -text +*.ftz filter=lfs diff=lfs merge=lfs -text +*.gz filter=lfs diff=lfs merge=lfs -text +*.h5 filter=lfs diff=lfs merge=lfs -text +*.joblib filter=lfs diff=lfs merge=lfs -text +*.lfs.* filter=lfs diff=lfs merge=lfs -text +*.lz4 filter=lfs diff=lfs merge=lfs -text +*.mds filter=lfs diff=lfs merge=lfs -text +*.mlmodel filter=lfs diff=lfs merge=lfs -text +*.model filter=lfs diff=lfs merge=lfs -text +*.msgpack filter=lfs diff=lfs merge=lfs -text +*.npy filter=lfs diff=lfs merge=lfs -text +*.npz filter=lfs diff=lfs merge=lfs -text +*.onnx filter=lfs diff=lfs merge=lfs -text +*.ot filter=lfs diff=lfs merge=lfs -text +*.parquet filter=lfs diff=lfs merge=lfs -text +*.pb filter=lfs diff=lfs merge=lfs -text +*.pickle filter=lfs diff=lfs merge=lfs -text +*.pkl filter=lfs diff=lfs merge=lfs -text +*.pt filter=lfs diff=lfs merge=lfs -text +*.pth filter=lfs diff=lfs merge=lfs -text +*.rar filter=lfs diff=lfs merge=lfs -text +*.safetensors filter=lfs diff=lfs merge=lfs -text +saved_model/**/* filter=lfs diff=lfs merge=lfs -text +*.tar.* filter=lfs diff=lfs merge=lfs -text +*.tar filter=lfs diff=lfs merge=lfs -text +*.tflite filter=lfs diff=lfs merge=lfs -text +*.tgz filter=lfs diff=lfs merge=lfs -text +*.wasm filter=lfs diff=lfs merge=lfs -text +*.xz filter=lfs diff=lfs merge=lfs -text +*.zip filter=lfs diff=lfs merge=lfs -text +*.zst filter=lfs diff=lfs merge=lfs -text +*tfevents* filter=lfs diff=lfs merge=lfs -text +# Audio files - uncompressed +*.pcm filter=lfs diff=lfs merge=lfs -text +*.sam filter=lfs diff=lfs merge=lfs -text +*.raw filter=lfs diff=lfs merge=lfs -text +# Audio files - compressed +*.aac filter=lfs diff=lfs merge=lfs -text +*.flac filter=lfs diff=lfs merge=lfs -text +*.mp3 filter=lfs diff=lfs merge=lfs -text +*.ogg filter=lfs diff=lfs merge=lfs -text +*.wav filter=lfs diff=lfs merge=lfs -text +# Image files - uncompressed +*.bmp filter=lfs diff=lfs merge=lfs -text +*.gif filter=lfs diff=lfs merge=lfs -text +*.png filter=lfs diff=lfs merge=lfs -text +*.tiff filter=lfs diff=lfs merge=lfs -text +# Image files - compressed +*.jpg filter=lfs diff=lfs merge=lfs -text +*.jpeg filter=lfs diff=lfs merge=lfs -text +*.webp filter=lfs diff=lfs merge=lfs -text +# Video files - compressed +*.mp4 filter=lfs diff=lfs merge=lfs -text +*.webm filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..52ed2c7ee847d99d2f776d96969f95e57434a3fc --- /dev/null +++ b/README.md @@ -0,0 +1,64 @@ +--- +license: cc-by-4.0 +pretty_name: video2sim captures +language: + - en +task_categories: + - video-classification + - image-to-3d +tags: + - video + - 3d-reconstruction + - robotics + - simulation + - benchmark +size_categories: + - n<1K +--- + +# video2sim captures + +Short handheld videos of workspaces, captured as input for the video2sim pipeline +(video → reconstruction → segmentation → shape → physics → simulation assets). + +## Contents + +- `scenes/s01–s24/`: 24 scenes, each with: + - `video_a.mp4` — orbit around the table + - `video_b.mp4` — rough side view + - `alt_*/` — extra takes (`alt_lighting`, `alt_path`, `alt_closeup`, + `glass_bottle_close`) +- `scenes/thumbnails/`, `scenes/thumbnails_lowres/`: preview images + (1920×1080 and 640×360) + +Clips are `.mp4`, 5–65 seconds each. Scenes s06, s14 and s24 are +video_b-only (plus two `alt_path` takes each). + +## Capture protocol + +- Device: iPhone 14 +- Resolution: 1920×1080 +- Frame rate: 30 fps +- Camera motion: VideoA is an orbit around the table, VideoB a rough side view +- Lighting: mostly diffuse room light (optimal conditions); some scenes use natural light + +## Privacy and consent + +Scenes are clean for the most part. One background document still needs a double-check +before public release. + +## Intended use + +Research and benchmarking of video-to-simulation pipelines. + +## Citation + +```bibtex +@dataset{korbmacher2026video2sim, + author = {Korbmacher, Tom Korbmacher, Tom}, + title = {video2sim captures}, + year = {2026}, + publisher = {Hugging Face}, + url = {https://huggingface.co/datasets/TomKrb/video2sim-captures} +} +``` diff --git a/inventory.csv b/inventory.csv new file mode 100644 index 0000000000000000000000000000000000000000..28f46e02a7bb6edfb8aa435702ea3c926ace2ff2 --- /dev/null +++ b/inventory.csv @@ -0,0 +1,62 @@ +obj_id,label,length_mm_1,length_mm_2,length_mm_3,width_mm_1,width_mm_2,width_mm_3,height_mm_1,height_mm_2,height_mm_3,mass_g_1,mass_g_2,mass_g_3,material_class,hollow,deformable,shape_primitive,date,person,tool_id,notes +obj_000,lego toy car,160,160,160,76,76,76,43,43,43,163,163,161,hard plastic,FALSE,FALSE,,2026-10-23,T. K.,folding rule, +obj_001,spray can,67,68,67,67,68,67,240,240,240,474,473,473,metal,TRUE,FALSE,cylinder,2026-10-23,T. K.,folding rule,"Spray can, filled with bike cleaner fluid." +obj_002,packaging for breakfast bags,237,237,237,136,136,136,39,39,39,275,274,273,cardboard,FALSE,FALSE,cuboid,2026-10-23,T. K.,folding rule,"damaged, content: small paper breakfast bags" +obj_003,packaging for in ear headphones,115,116,116,85,87,87,45,45,45,95,95,94,cardboard,FALSE,FALSE,cuboid,2026-10-23,T. K.,folding rule,thicker and polished cardboard +obj_004,coffee powder can,101,101,101,101,101,101,159,159,159,232,231,233,cardboard,FALSE,FALSE,cylinder,2026-10-23,T. K.,folding rule,lid made out of plastic and ground feels like aluminium +obj_005,plastic plate,280,280,280,280,280,280,18,18,18,144,144,144,hard plastic,FALSE,FALSE,cylinder,2026-10-23,T. K.,folding rule, +obj_006,gamepad controller,154,153,153,108,107,108,64,64,64,289,288,287,hard plastic,FALSE,FALSE,,2026-10-23,T. K.,folding rule,xbox gamepad controller white +obj_007,rubiks cube,70,70,70,70,70,70,70,70,70,249,249,249,hard plastic,FALSE,FALSE,cube,2026-10-23,T. K.,folding rule,"5x5 rubic cube, unsolved" +obj_008,"round tube, packaging for cold medicine rub",40,40,40,40,40,40,47,47,47,40,39,39,hard plastic,FALSE,FALSE,cylinder,2026-10-23,T. K.,folding rule,"empty (not visible), VapoRub®" +obj_009,cheap 3d glasses,155,155,155,40,40,40,23,23,23,17,16,17,hard plastic,FALSE,FALSE,,2026-10-23,T. K.,folding rule,"cheap 3d glasses from cinema, plastic glasses not real glass, black" +obj_010,small wooden toy brick,60,60,60,15,15,15,30,30,30,11,12,11,wood,FALSE,FALSE,,2026-10-23,T. K.,folding rule,small wooden puzzle piece toy +obj_011,sunscreen spray,35,35,35,35,35,35,133,133,133,80,80,80,hard plastic,FALSE,FALSE,cylinder,2026-10-23,T. K.,folding rule,sunscreen spray +obj_012,chocolate santa blue,62,63,62,45,44,44,173,173,173,129,130,129,aluminium foil,TRUE,FALSE,,2026-10-23,T. K.,folding rule,aluminium foil wrapped chocolate santa claude blue +obj_013,round deodorant,47,47,47,47,47,47,101,101,101,101,102,101,hard plastic,FALSE,FALSE,cylinder,2026-10-23,T. K.,folding rule,dark blue cylinder shaped deodorant black cap +obj_014,packaging for electronics,118,118,118,109,109,109,55,55,55,234,236,234,cardboard,FALSE,FALSE,cuboid,2026-10-23,T. K.,folding rule,"blue packaging for pololu robot, with robot inside" +obj_015,chocolate egg,46,46,46,46,46,46,65,65,65,34,33,33,aluminium foil,TRUE,FALSE,egg,2026-10-23,T. K.,folding rule,"aluminium foil wrapped children chocolate egg, positioned like real egg (longest side towards sky, Z+)" +obj_016,fidget spinner,74,74,74,74,74,74,12,12,12,40,39,41,hard plastic,FALSE,FALSE,,2026-10-23,T. K.,folding rule,"fidget spinner, yellow, made of hard plastic, ball bearing in center and metal weights in each wing" +obj_017,electric tape,49,49,49,49,49,49,15,15,15,17,16,17,plastic,TRUE,FALSE,hollow cylinder,2026-10-23,T. K.,folding rule,"abt. 50% used, blue tesa® electric tape" +obj_018,3d printed car body,205,205,205,86,86,86,48,48,48,158,157,158,hard plastic,FALSE,FALSE,,2026-10-23,T. K.,folding rule,a white 3d printed porsche car body no wheels +obj_019,small paint can,58,58,58,58,58,58,70,70,70,161,162,161,metal,FALSE,FALSE,cylinder,2026-10-23,T. K.,folding rule,metal can filled with black acrylic paint 125ml +obj_020,plush toy monkey small,190,190,190,150,150,150,160,160,160,145,145,144,toy faux fur and wool,FALSE,TRUE,,2026-10-23,T. K.,folding rule,"a small monkey stuffed animal with tail, tail not considered in measurement" +obj_021,rubiks cube smaller,55,55,55,55,55,55,55,55,55,82,81,81,hard plastic,FALSE,FALSE,cube,2026-10-23,T. K.,folding rule,scrambled rubic cube 3x3 +obj_022,metal insulated water bottle,80,80,80,80,80,80,256,256,256,413,415,414,metal,TRUE,FALSE,cylinder,2026-10-23,T. K.,folding rule,"black insulated metal drinking can with silver cap, not filled" +obj_023,fabric tool bag,230,230,230,100,100,100,40,40,40,225,225,224,fabric,FALSE,FALSE,cuboid,2026-10-23,T. K.,folding rule,black fabric tool bag with no tools in it yellow label +obj_024,hole punch,105,105,105,85,85,85,81,81,81,242,242,242,metal,FALSE,FALSE,,2026-10-23,T. K.,folding rule,metal base and hard plastic like top +obj_025,sponge,160,160,160,160,160,160,170,170,170,45,44,43,plastic mesh,FALSE,TRUE,ball,2026-10-23,T. K.,folding rule,"round artifical beach sponge for showering, rope loop towards top (Z+)" +obj_026,glass water bottle,93,93,93,93,93,93,246,246,246,611,611,613,glass,TRUE,FALSE,cone,2026-10-23,T. K.,folding rule,"thick glass water bottle, no cap, open, not filled" +obj_027,toy air basketball,150,150,150,150,150,150,150,150,150,80,79,79,plastic,TRUE,FALSE,ball,2026-10-23,T. K.,folding rule,"light air filled waterball like basketball, bouncy, red" +obj_028,fascia roll,147,147,147,147,147,147,300,300,300,103,102,101,foam,TRUE,FALSE,hollow cylinder,2026-10-23,T. K.,folding rule,"light, white and green fascia roll" +obj_029,empty phone packaging,170,170,170,86,87,86,63,62,62,184,185,185,cardboard,FALSE,FALSE,cuboid,2026-10-23,T. K.,folding rule,"phone packaging made of cardboard, no phone inside " +obj_030,folded up towel,280,280,280,260,260,260,70,70,70,211,212,213,fabric,FALSE,TRUE,cuboid cloth,2026-10-23,T. K.,folding rule,"folded up medium sized blue towel, folder to abt. a quarter of the size, cloth" +obj_031,car navigation system,115,115,115,104,104,104,75,75,75,220,219,219,hard plastic,FALSE,FALSE,,2026-10-23,T. K.,folding rule,"navigation system with stand towards Y+, standing upright, plastic with plastic screen, black" +obj_032,round hair brush,229,229,229,41,41,41,41,41,41,57,55,56,hard plastic,FALSE,FALSE,cylinder,2026-10-23,T. K.,folding rule,"black, round hair brush" +obj_033,fragrance tester,160,160,160,20,20,20,1,1,1,0.2,0.2,0.2,paper,FALSE,FALSE,cuboid,2026-10-23,T. K.,folding rule,"very thin, paper, fragrance tester" +obj_034,digital alarm,155,155,155,47,47,47,98,98,98,202,202,201,hard plastic,FALSE,FALSE,cuboid,2026-10-23,T. K.,folding rule,a digital alarm clock made of plastic +obj_035,reflective puzzle toy,38,38,38,38,38,38,38,38,38,28,27,27,hard plastic,FALSE,FALSE,cube,2026-10-23,T. K.,folding rule,a reflective rubics cube like puzzle +obj_036,single breadboard module,83,83,83,53,53,53,10,10,10,34,32,33,hard plastic,FALSE,FALSE,cuboid,2026-10-23,T. K.,folding rule,single white breadboard module +obj_037,ball puzzle toy,68,69,69,68,69,69,68,69,69,79,81,79,hard plastic,FALSE,FALSE,ball,2026-10-23,T. K.,folding rule,"colorful, round puzzle toy, rope not considered" +obj_038,white round basket,380,380,380,255,255,255,223,223,223,402,402,402,basket fabric,TRUE,FALSE,hollow cylinder,2026-10-23,T. K.,folding rule,a white braided basket with two small braided handles +obj_039,action camera,72,72,72,34,34,34,51,52,52,160,158,159,hard plastic,FALSE,FALSE,cuboid,2026-10-23,T. K.,folding rule,"GoPro BLACK 13, lens infront towards Y-" +obj_040,white 3d print cuboid,50,50,50,50,50,50,40,40,40,23,22,22,PLA,TRUE,FALSE,cuboid,2026-10-23,T. K.,folding rule,"3d printed cuboid low infill, white color, PLA" +obj_041,mug,117,117,120,83,84,83,96,96,96,220,220,220,ceramic,TRUE,FALSE,hollow cylinder,2026-10-23,T. K.,folding rule,"classic ceramic mug, handle towards X+" +obj_042,"small, flat see through cylindric container",70,70,70,70,70,70,10,10,10,26,24,24.5,hard plastic,FALSE,FALSE,cylinder,2026-10-23,T. K.,folding rule,"a small container for speed cube screws, made of plastic, see through top" +obj_043,small pouch,100,100,100,100,100,100,150,150,150,13,13,12,fabric,TRUE,TRUE,cuboid,2026-10-23,T. K.,folding rule,"a small bag for a rubiks cube saying ""CUBIKON"", black made out of fabric" +obj_044,scissors,155,155,155,54,54,54,5,5,5,19,19,19,metal,FALSE,FALSE,,2026-10-23,T. K.,folding rule,"small black scissors, black plastic handle, metal body" +obj_045,plier,123,123,123,97,97,97,9.8,9.4,9.4,74,74,74,rubber,FALSE,FALSE,,2026-10-25,T. K.,digital caliper,rubber handle metal head +obj_046,mug,118.4,119,119,84.2,84,84.1,104.7,105.6,105.2,251,251,250,ceramic,TRUE,FALSE,hollow cylinder,2026-10-25,T. K.,digital caliper,"classic ceramic mug, handle towards X+" +obj_047,cube,30,30,30,30,30,30,30,30,30,9,9,10,PLA,FALSE,FALSE,cube,2026-10-25,T. K.,digital caliper,black 3d printed PLA +obj_048,square pyramid,30,30,30,30,30,30,30,30,30,4,4,3,PLA,FALSE,FALSE,square pyramid,2026-10-25,T. K.,digital caliper,black 3d printed PLA +obj_049,triangular prism,30,30,30,25.4,25.4,25.4,22.2,22.1,22.1,4,4,4,PLA,FALSE,FALSE,triangular prism,2026-10-25,T. K.,digital caliper,"black 3d printed PLA, laying to the side (base is a rectangle)" +obj_050,cuboid,30,30,30,30,30,30,20,20,20,7,7,7,PLA,FALSE,FALSE,cuboid,2026-10-25,T. K.,digital caliper,black 3d printed PLA +obj_051,truncated cone,30,30,30,30,30,30,30,30,30,4,5,5,PLA,FALSE,FALSE,truncated cone,2026-10-25,T. K.,digital caliper,black 3d printed PLA +obj_052,cylinder,30,30,30,30,30,30,30,30,30,4,4,4,PLA,FALSE,FALSE,cylinder,2026-10-25,T. K.,digital caliper,black 3d printed PLA +obj_053,cone,30,30,30,30,30,30,30,30,30,4,4,4,PLA,FALSE,FALSE,cone,2026-10-25,T. K.,digital caliper,black 3d printed PLA +obj_054,tetrahedon,25.3,25.1,25.2,21.8,21.8,21.6,29.2,29.3,29.2,0,0,1,PLA,FALSE,FALSE,tetrahedon,2026-10-25,T. K.,digital caliper,black 3d printed PLA +obj_055,sphere,30,30,30,30,30,30,30,30,30,5,5,5,PLA,FALSE,FALSE,sphere,2026-10-25,T. K.,digital caliper,black 3d printed PLA +obj_056,hexagonal prism,30,30,30,25.9,25.9,25.9,30,30,30,7,6,7,PLA,FALSE,FALSE,hexagonal prism,2026-10-25,T. K.,digital caliper,black 3d printed PLA +obj_057,torus,30,30,30,30,30,30,6.1,6,6.1,0.3,0.3,0.3,PLA,TRUE,FALSE,torus,2026-10-25,T. K.,digital caliper,black 3d printed PLA +obj_058,ellipsoid,30,30,30,20,20,20,15.2,15.2,15.1,3,3,3,PLA,FALSE,FALSE,ellipsoid,2026-10-25,T. K.,digital caliper,black 3d printed PLA +obj_059,"deodorant spray, no cap",29.4,29.4,29.4,29.4,29.4,29.4,99.1,99.1,99,73,72,73,glass,FALSE,FALSE,cylinder,2026-10-25,T. K.,digital caliper,"with label and atomiser, some amount of glossyness caused by glass" +obj_060,deodorant cap,28,28,27.9,28,28,27.9,41,40.9,40.9,3,3,3,hard plastic,TRUE,FALSE,cylinder,2026-10-25,T. 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0000000000000000000000000000000000000000..be879ce06f09722d782dd66c07c3c0f1db4a50a2 --- /dev/null +++ b/inventory/thumbnails/obj_059.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c295259db71bbe791f7d8806a5b9a5fa335202e4bf760d59cac84123662b3ce7 +size 8570 diff --git a/inventory/thumbnails/obj_060.jpg b/inventory/thumbnails/obj_060.jpg new file mode 100644 index 0000000000000000000000000000000000000000..a99e537a57ff8cf60787565d80f4b917e625f42d --- /dev/null +++ b/inventory/thumbnails/obj_060.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7ed3c736baace2aaaa3b85f05b4ea183d6887a63217ff6c3453523bcacda966 +size 7387 diff --git a/scene_list.yaml b/scene_list.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f0c5da09e403a3c8efde9356dafe82df4ba94067 --- /dev/null +++ b/scene_list.yaml @@ -0,0 +1,200 @@ +- + scene: s01 + tier: easy + split: dev + board: grid + environment: uni desk + done: true + notes: simple matte shapes and packages +- + scene: s02 + tier: easy + split: dev + board: grid + environment: uni desk + done: true + notes: mugs +- + scene: s03 + tier: easy + split: dev + board: grid + environment: uni desk + done: true + notes: sphere only +- + scene: s04 + tier: easy + split: dev + board: grid + environment: uni desk + done: true + notes: sphere and some packages +- + scene: s05 + tier: easy + split: dev + board: clean + environment: uni desk + done: true + notes: coordinate measurmens based of orientation of marker0 (bottom left) <=> x=0, y=0 +- + scene: s06 + tier: easy + split: dev + board: grid + environment: kitchen + done: true + notes: simple objects on textured dark surface, no orbit possible +- + scene: s07 + tier: easy + split: test + board: grid + environment: uni desk + done: true + notes: simple matte shapes and packages +- + scene: s08 + tier: easy + split: test + board: grid + environment: uni desk + done: true + notes: mugs +- + scene: s09 + tier: easy + split: test + board: grid + environment: uni desk + done: true + notes: 3 easy bigger objects +- + scene: s10 + tier: easy + split: test + board: clean + environment: living room + done: true + notes: tablecloth easy objects natural lighting +- + scene: s11 + tier: medium + split: dev + board: grid + environment: uni desk + done: true + notes: small objects, black, 3d printed geometric shapes, low texture +- + scene: s12 + tier: medium + split: dev + board: grid + environment: uni desk + done: true + notes: many easy objecs with occlusion, video came out blurred +- + scene: s13 + tier: medium + split: dev + board: grid + environment: uni desk + done: true + notes: easy stack of objects +- + scene: s14 + tier: medium + split: dev + board: clean + environment: kitchen + done: true + notes: easy objects, clutter, dark surface, no orbit possible (surface against the wall) +- + scene: s15 + tier: medium + split: test + board: grid + environment: uni desk + done: true + notes: easy objects, occlusion +- + scene: s16 + tier: medium + split: test + board: grid + environment: living room + done: true + notes: easy stack of objects, easy lighting +- + scene: s17 + tier: hard + split: dev + board: grid + environment: uni desk + done: true + notes: reflective objects +- + scene: s18 + tier: hard + split: dev + board: grid + environment: uni desk + done: true + notes: hard geometry +- + scene: s19 + tier: hard + split: test + board: grid + environment: uni desk + done: true + notes: hard geometry +- + scene: s20 + tier: hard + split: test + board: grid + environment: uni desk + done: true + notes: reflective objects +- + scene: + tier: + split: + board: + environment: + done: + notes: +- + scene: s21_deformable + tier: hard + split: dev + board: grid + environment: uni desk + done: true + notes: with deformable +- + scene: s22_deformable + tier: hard + split: dev + board: grid + environment: uni desk + done: true + notes: with deformable +- + scene: s23_deformable + tier: hard + split: test + board: grid + environment: uni desk + done: true + notes: with deformable +- + scene: s24 + tier: hard + split: dev + board: clean + environment: kitchen + done: true + notes: very glossy stove surface, easy cuboid object, second marker at wall, no orbit possible diff --git a/scenes.csv b/scenes.csv new file mode 100644 index 0000000000000000000000000000000000000000..b6f5a5e836162375813dd19762086ce4379a8387 --- /dev/null +++ b/scenes.csv @@ -0,0 +1,104 @@ +scene_id,tier,split,board,object_id,station,x_mm,y_mm,yaw_deg,marker_family,tag_size_mm,notes +s01,easy,dev,grid,7,B4,,,0,aruco_4x4_50,100, +s01,easy,dev,grid,21,B2,,,0,aruco_4x4_50,100, +s01,easy,dev,grid,29,D2,,,45,aruco_4x4_50,100, +s01,easy,dev,grid,4,F1,,,20,aruco_4x4_50,100,cylinder shape yaw could be inaccurate +s01,easy,dev,grid,3,F4,,,0,aruco_4x4_50,100, +s07,easy,test,grid,3,B2,,,45,aruco_4x4_50,100, +s07,easy,test,grid,21,C1,,,45,aruco_4x4_50,100, +s07,easy,test,grid,4,f2,,,0,aruco_4x4_50,100, +s07,easy,test,grid,7,E3,,,0,aruco_4x4_50,100, +s07,easy,test,grid,29,C4,,,90,aruco_4x4_50,100, +s02,easy,dev,grid,41,B4,,,0,aruco_4x4_50,100, +s02,easy,dev,grid,46,D2,,,0,aruco_4x4_50,100, +s02,easy,dev,grid,39,B1,,,0,aruco_4x4_50,100, +s02,easy,dev,grid,60,F1,,,0,aruco_4x4_50,100, +s02,easy,dev,grid,14,f5,,,180,aruco_4x4_50,100, +s08,easy,test,grid,14,B3,,,90,aruco_4x4_50,100, +s08,easy,test,grid,46,C1,,,-90,aruco_4x4_50,100, +s08,easy,test,grid,41,E2,,,0,aruco_4x4_50,100, +s08,easy,test,grid,39,f5,,,-90,aruco_4x4_50,100, +s08,easy,test,grid,60,c5,,,0,aruco_4x4_50,100, +s11,medium,dev,grid,47,d5,,,0,aruco_4x4_50,100, +s11,medium,dev,grid,40,E4,,,0,aruco_4x4_50,100, +s11,medium,dev,grid,48,c4,,,0,aruco_4x4_50,100, +s11,medium,dev,grid,49,e3,,,90,aruco_4x4_50,100, +s11,medium,dev,grid,56,B2,,,0,aruco_4x4_50,100, +s11,medium,dev,grid,50,C1,,,0,aruco_4x4_50,100, +s11,medium,dev,grid,52,F1,,,0,aruco_4x4_50,100, +s09,easy,test,grid,7,B3,,,0,aruco_4x4_50,100, +s09,easy,test,grid,5,E2,,,0,aruco_4x4_50,100, +s09,easy,test,grid,2,e5,,,180,aruco_4x4_50,100, +s04,easy,dev,grid,27,D3,,,0,aruco_4x4_50,100, +s04,easy,dev,grid,22,f1,,,-45,aruco_4x4_50,100, +s04,easy,dev,grid,14,B4,,,0,aruco_4x4_50,100, +s04,easy,dev,grid,21,b2,,,0,aruco_4x4_50,100, +s04,easy,dev,grid,3,F4,,,90,aruco_4x4_50,100, +s03,easy,dev,grid,27,D3,,,0,aruco_4x4_50,100, +s12,medium,dev,grid,4,B2,,,0,aruco_4x4_50,100, +s12,medium,dev,grid,29,c4,,,180,aruco_4x4_50,100, +s12,medium,dev,grid,1,C1,,,0,aruco_4x4_50,100, +s12,medium,dev,grid,14,D2,,,85,aruco_4x4_50,100, +s12,medium,dev,grid,2,f4,,,0,aruco_4x4_50,100, +s12,medium,dev,grid,60,f5,,,0,aruco_4x4_50,100, +s12,medium,dev,grid,39,B1,,,90,aruco_4x4_50,100, +s12,medium,dev,grid,3,E1,,,0,aruco_4x4_50,100, +s12,medium,dev,grid,21,F2,,,0,aruco_4x4_50,100, +s12,medium,dev,grid,7,h2,,,0,aruco_4x4_50,100, +s13,medium,dev,grid,2,D3,,,0,aruco_4x4_50,100,stack 0 (lowest) +s13,medium,dev,grid,14,D3,,,0,aruco_4x4_50,100,stack 1 (ontop of 2) +s13,medium,dev,grid,40,D3,,,0,aruco_4x4_50,100,"stack 2 (ontop of 14, highest)" +s15,medium,test,grid,14,C2,,,0,aruco_4x4_50,100, +s15,medium,test,grid,40,D2,,,0,aruco_4x4_50,100, +s15,medium,test,grid,38,C4,,,0,aruco_4x4_50,100, +s15,medium,test,grid,4,E3,,,0,aruco_4x4_50,100, +s15,medium,test,grid,21,E4,,,0,aruco_4x4_50,100, +s17,hard,dev,grid,26,D3,,,0,aruco_4x4_50,100,glass bottle +s17,hard,dev,grid,19,c2,,,0,aruco_4x4_50,100, +s17,hard,dev,grid,59,F1,,,0,aruco_4x4_50,100, +s17,hard,dev,grid,35,b4,,,0,aruco_4x4_50,100, +s17,hard,dev,grid,15,f5,,,0,aruco_4x4_50,100, +s18,hard,dev,grid,6,D3,,,15,aruco_4x4_50,100, +s18,hard,dev,grid,32,C1,,,-30,aruco_4x4_50,100, +s18,hard,dev,grid,8,f2,,,0,aruco_4x4_50,100, +s18,hard,dev,grid,0,F4,,,90,aruco_4x4_50,100, +s18,hard,dev,grid,18,B4,,,-45,aruco_4x4_50,100, +s18,hard,dev,grid,24,e5,,,0,aruco_4x4_50,100, +s18,hard,dev,grid,12,F2,,,-45,aruco_4x4_50,100, +s18,hard,dev,grid,45,f1,,,0,aruco_4x4_50,100, +s19,hard,test,grid,6,C1,,,-90,aruco_4x4_50,100, +s19,hard,test,grid,23,D3,,,0,aruco_4x4_50,100,ignore deformability +s19,hard,test,grid,36,c5,,,0,aruco_4x4_50,100, +s19,hard,test,grid,34,f5,,,135,aruco_4x4_50,100, +s19,hard,test,grid,10,F2,,,0,aruco_4x4_50,100, +s20,hard,test,grid,34,C3,,,0,aruco_4x4_50,100, +s20,hard,test,grid,26,F4,,,0,aruco_4x4_50,100, +s20,hard,test,grid,13,e2,,,0,aruco_4x4_50,100, +s20,hard,test,grid,44,c1,,,0,aruco_4x4_50,100, +s20,hard,test,grid,35,c5,,,0,aruco_4x4_50,100, +s20,hard,test,grid,42,F2,,,0,aruco_4x4_50,100, +s21,hard,dev,grid,30,C3,,,0,aruco_4x4_50,100,towel +s21,hard,dev,grid,27,F4,,,0,aruco_4x4_50,100,air filled bouncy basketball +s22,hard,dev,grid,43,D3,,,0,aruco_4x4_50,100,rubiks cube bag small +s23,hard,test,grid,25,D3,,,0,aruco_4x4_50,100,sponge +s05,easy,dev,clean,7,,-95,291,0,aruco_4x4_50,100,"coordinate measurmens based of orientation of marker0 (bottom left) <=> x=0, y=0 with folding rule towards center of object" +s05,easy,dev,clean,39,,370,260,0,aruco_4x4_50,100, +s05,easy,dev,clean,2,,670,350,0,aruco_4x4_50,100, +s05,easy,dev,clean,4,,1090,300,0,aruco_4x4_50,100, +s10,easy,test,clean,2,,420,460,0,aruco_4x4_50,100, +s10,easy,test,clean,7,,300,300,0,aruco_4x4_50,100, +s10,easy,test,clean,29,,685,140,90,aruco_4x4_50,100, +s16,medium,test,grid,3,e3,,,45,aruco_4x4_50,100,stack 0 (lowest) +s16,medium,test,grid,4,e3,,,0,aruco_4x4_50,100,stack 1 (ontop of 3) +s16,medium,test,grid,21,e3,,,0,aruco_4x4_50,100,"stack 2 (ontop of 4, highest)" +s16,medium,test,grid,29,B2,,,0,aruco_4x4_50,100,side object +s06,easy,dev,grid,29,d2,,,180,aruco_4x4_50,100, +s06,easy,dev,grid,4,E4,,,0,aruco_4x4_50,100, +s06,easy,dev,grid,40,,900,175,0,aruco_4x4_50,100, +s06,easy,dev,grid,18,,-200,160,30,aruco_4x4_50,100, +s24,hard,dev,clean,40,,440,225,0,aruco_4x4_50,100, +s14,medium,dev,clean,4,,200,170,0,aruco_4x4_50,100, +s14,medium,dev,clean,36,,95,215,0,aruco_4x4_50,100, +s14,medium,dev,clean,40,,95,335,0,aruco_4x4_50,100, 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