# Object models for mask / 6D-pose ground truth.
# T_body_model maps CAD (model) coords into the OptiTrack rigid body's frame:
#   p_body = R(rotation_xyzw) @ p_model + translation      (metres)
# cubesat.T_body_model: from 4 CAD marker positions matched to CubeSat_U1.motive (max residual 1.2 mm)
# keypoints: the cube body's 8 corners (clickable in images; excludes the marker holder)
cubesat:
  class_id: 1
  mocap_body: cubesat
  mesh: models/CubeSat_U1.obj
  mesh_scale: 1.0
  trajectories:
  - trajectory_007
  - trajectory_008
  - trajectory_009
  T_body_model:
    translation:
    - -0.000775
    - 0.00396
    - -0.123879
    rotation_xyzw:
    - 0.54976
    - 0.45179
    - 0.457284
    - 0.533424
  cad_markers:
  - - 0.046077
    - 0.117998
    - -0.046034
  - - -0.047354
    - 0.1215
    - -0.047401
  - - -0.047354
    - 0.1215
    - 0.047398
  - - 0.047445
    - 0.1215
    - 0.047398
  motive_file: models/CubeSat_U1.motive
  keypoints:
  - - -0.05
    - 0.0
    - -0.05
  - - -0.05
    - 0.0
    - 0.05
  - - -0.05
    - 0.1
    - -0.05
  - - -0.05
    - 0.1
    - 0.05
  - - 0.05
    - 0.0
    - -0.05
  - - 0.05
    - 0.0
    - 0.05
  - - 0.05
    - 0.1
    - -0.05
  - - 0.05
    - 0.1
    - 0.05