# A single detected scene object — published in SceneObjectArray on /social/scene/objects.

# ── Object identity ─────────────────────────────────────────────────────────
uint16  class_id        # COCO class ID (or custom: 80=door, 81=stairs)
string  class_name      # human-readable label
float32 confidence      # detection confidence 0–1

# ── 2-D bounding box (pixel coords in source image frame) ─────────────────
vision_msgs/BoundingBox2D bbox

# ── 3-D position (in base_link frame, NaN if depth unavailable) ────────────
geometry_msgs/PointStamped position_3d
float32 distance_m      # straight-line distance from base_link, 0 = unknown

# ── Hazard classification ──────────────────────────────────────────────────
uint8 HAZARD_NONE       = 0
uint8 HAZARD_STAIRS     = 1   # stair pattern detected ahead
uint8 HAZARD_DROP       = 2   # depth cliff (floor drops away)
uint8 HAZARD_WET_FLOOR  = 3   # specular/glossy floor reflection
uint8 HAZARD_GLASS_DOOR = 4   # transparent surface, depth=0 with visible structure
uint8 HAZARD_PET        = 5   # cat or dog requiring gentle approach
uint8 hazard_type
