> Wouldn't it be easier to generate the training data with a rendering pipeline of some sort that randomizes the brick position in a 3D scene with different lig

> Wouldn't it be easier to generate the training data with a rendering pipeline of some sort that randomizes the brick position in a 3D scene with different lighting? You might enjoy the 2023 paper "Brickognize: Applying Photo-Realistic Image Synthesis for Lego Bricks Recognition with Limited Data" https://www.mdpi.com/1424-8220/23/4/1898 https://www.mdpi.com/1424-8220/23/4/1898