Lars Kaesberg

https://github.com/NVIDIA/Dataset_Utilities/blob/master/nvdu/config/object_settings/_ycb_original.json I think these should be the transformations I need right?

Yes YCB dope to YCB Video

Okay thank you, but that is video to dope. Do I just have to multiply the dope quaternions with the inverse of the quaternion from the csv file, or how...

 I currently achieved a good rotation vector, but the object is flipped upside down. And I have to divide the translation vector by 10. I think the small offset...