Creating 3D Cuboid Annotation in LiDAR

import dtlpy as dl
from scipy.spatial.transform import Rotation
# 0. Get the dataset and the frames item
dataset = dl.datasets.get(dataset_id="dataset-id")
frames_item = dataset.items.get(filepath='/frames.json')
# 1. Create annotations builder
builder = frames_item.annotations.builder()
# 2. Define the Cube 3D calibrations data
label = "Car"  # Annotation Label
position = [
    0.0,  # Position X Coordinate
    0.0,  # Position Y Coordinate
    0.0,  # Position Z Coordinate
]
scale = [
    1.0,  # Scale of X Dimension
    1.0,  # Scale of Y Dimension
    1.0,  # Scale of Z Dimension
]
rotation = Rotation.from_quat([
    0.0,  # Quaternion X Coordinate
    0.0,  # Quaternion Y Coordinate
    0.0,  # Quaternion Z Coordinate
    1.0,  # Quaternion W Coordinate
]).as_euler(
    seq="xyz",
    degrees=False
)
attributes = {"onRoad": True}  # Annotation Attributes
description = "Car on road"  # Annotation Description
annotation_definition = dl.Cube3d(
    label=label,
    position=position,
    scale=scale,
    rotation=rotation,
    attributes=attributes,
    description=description
)
# 3. Define the Cube 3D Annotation final parameters and upload it to the lidar scene
frame_num = 0
end_frame_num = 1
object_id = "0"
metadata = {"user": {"Car": "onRoad"}}
builder.add(
    annotation_definition=annotation_definition,
    frame_num=frame_num,
    end_frame_num=end_frame_num,
    object_id=object_id,
    metadata=metadata
)
builder.upload()