BoundingBox3D description unclear

[ryan-roche]

I'm having trouble understanding how exactly to use the fields within the BoundingBox3D message.

What direction relative to the box should the orientation pose be pointing? Should it be along one specific axis, and the rest are relative to it by the right-hand rule?

What do the X, Y, and Z values of the size field represent? Are they the full length/height/width values measured face-to-face on the box, or are they the half-values (the distance between the center and the corresponding faces)?

I suggest editing the comments and official documentation to clarify some standard for what those values represent to ensure that different projects using this message type are entering the correct measurements.