is a large-scale, fully synthetic, ground-truth-complete benchmark for the two classical sensor-calibration problems of robotics, hand-eye calibration, A X = X B, and simultaneous robot-world / hand-eye calibration, A X = Y B, together with their spatio-temporal extension (unknown clock offset between the robot and the camera). Instead of images, every sequence consists of two time-stamped pose streams, the robot flange trajectory (from forward kinematics of real manipulator models) and the pose of the observed reference in the camera, both as exact ground truth and as measurements corrupted by physically motivated noise models. This isolates the numerical calibration problem from image…