{
  "$schema": "https://json-schema.org/draft/2020-12/schema",
  "$id": "https://raw.githubusercontent.com/api-evangelist/dexterity/main/json-schema/dexterity-foresight-placed-box-schema.json",
  "title": "PlacedBox",
  "description": "A box that has been placed inside the truck, including its world position and orientation as a unit quaternion in wxyz order.",
  "type": "object",
  "required": ["id", "position", "orientation_wxyz", "dimensions"],
  "properties": {
    "id": {"type": "string"},
    "position": {
      "type": "array",
      "description": "Box center position in metres relative to the truck origin (x, y, z).",
      "items": {"type": "number"},
      "minItems": 3,
      "maxItems": 3
    },
    "orientation_wxyz": {
      "type": "array",
      "description": "Box orientation as a unit quaternion in wxyz order.",
      "items": {"type": "number"},
      "minItems": 4,
      "maxItems": 4
    },
    "dimensions": {
      "type": "array",
      "items": {"type": "number", "minimum": 0},
      "minItems": 3,
      "maxItems": 3
    }
  }
}