Confusion with LiDAR box definitions

[artzha]

Hi JRDB Team, I am confused about where the origin is defined for ground truth boxes in LiDAR. In the README, it says the
The relative coordinate of bottom center in a LiDAR box is (0.5, 0.5, 0), and the yaw is around the z axis, thus the rotation axis=2.
However, below that the diagram of the ground truth box in LiDAR looks like:

The image implies that the box center x,y,z are at the center of the box, making the relative coordinate of the bottom center (0, 0, 0.5). Where is the origin for the ground truth box defined and how should I interpret the difference between the two box center definitions in the README?

Thanks :)