A cube with aruco markers on each side, designed to be printed with two colors. It's probably easier to just print a cube and glue the markers on it, but this cube will feel cooler in the end.

It uses the 4x4 aruco markers with ids 0-5 from here: http://chev.me/arucogen/

The alternative aruco cube uses markers I got from an augmented reality lecture, as far as I know those markers are not in the default (openCV) aruco dictionary.