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  "documentation": {
    "source": "clawhub",
    "primaryDoc": "SKILL.md",
    "sections": [
      {
        "title": "Pywayne Visualization Rerun Utils",
        "body": "pywayne.visualization.rerun_utils.RerunUtils provides static methods for adding 3D elements to a Rerun viewer."
      },
      {
        "title": "Quick Start",
        "body": "import numpy as np\nimport rerun as rr\nfrom pywayne.visualization.rerun_utils import RerunUtils\n\n# Initialize Rerun (called once globally)\nrr.init('my_app', spawn=True)\n\n# Use static methods to add elements\nRerunUtils.add_point_cloud(points, colors=[255, 0, 0])\nRerunUtils.add_trajectory(trajectory)\nRerunUtils.add_camera(pose, image='path/to/image.jpg')"
      },
      {
        "title": "Point Cloud",
        "body": "# Single color (default: red)\nRerunUtils.add_point_cloud(points)\n\n# Multi-color points\ncolors = np.random.randint(0, 255, (100, 3))\nRerunUtils.add_point_cloud(points, colors=colors, label='colored')\n\n# Data format: points (N, 3)"
      },
      {
        "title": "Trajectory",
        "body": "# Single-color trajectory (default: green)\nRerunUtils.add_trajectory(trajectory)\n\n# Multi-color trajectory\ncolors = np.array([[0, 255, 0], [255, 0, 0]], dtype=np.float32)\nRerunUtils.add_trajectory(trajectory, colors=colors, label='path')\n\n# Data format: traj_endpoints (N, 3)"
      },
      {
        "title": "Camera",
        "body": "# Camera only (no image)\nRerunUtils.add_camera(pose, label='main_camera')\n\n# Camera with image\nRerunUtils.add_camera(pose, image='path/to/image.jpg', label='rgb_camera')\n\n# Data format: camera_pose (4, 4) or (4, 7)"
      },
      {
        "title": "Plane",
        "body": "# Plane by center and normal\nRerunUtils.add_plane_from_center_and_normal(center, normal, half_size=1.0)\n\n# Plane from SE3 transformation matrix\nRerunUtils.add_plane_from_Twp(Twp, half_size=1.0)"
      },
      {
        "title": "Chessboard",
        "body": "# Standard chessboard\nRerunUtils.add_chessboard_from_Twp()\n\n# Custom chessboard with colors\nRerunUtils.add_chessboard_from_Twp(\n    rows=9, cols=6, cell_size=0.025,\n    Twp=pose_matrix,\n    color1=np.array([255, 0, 0]),  # Red\n    color2=np.array([0, 0, 255])   # Blue\n    label='calib_board'\n)"
      },
      {
        "title": "Internal Helper",
        "body": "# Get quaternion from v1 to v2 (used internally for plane rotation)\nquat = RerunUtils._get_quaternion_from_v1_and_v2(v1, v2)"
      },
      {
        "title": "Important Notes",
        "body": "Initialization: Call rr.init('name', spawn=True) once before using methods\nStatic methods: All methods are static class methods, no instance needed\nDependencies: Requires Rerun SDK (auto-downloaded via gettool)\nData types: All position inputs must be float32\nCoordinates: Rerun uses ViewCoordinates.RDF (robot-centric coordinate system)\nSE3 poses: Support (4, 4) or (4, 7) matrix formats\nColor format: RGB as numpy arrays with shape (3,)"
      }
    ],
    "body": "Pywayne Visualization Rerun Utils\n\npywayne.visualization.rerun_utils.RerunUtils provides static methods for adding 3D elements to a Rerun viewer.\n\nQuick Start\nimport numpy as np\nimport rerun as rr\nfrom pywayne.visualization.rerun_utils import RerunUtils\n\n# Initialize Rerun (called once globally)\nrr.init('my_app', spawn=True)\n\n# Use static methods to add elements\nRerunUtils.add_point_cloud(points, colors=[255, 0, 0])\nRerunUtils.add_trajectory(trajectory)\nRerunUtils.add_camera(pose, image='path/to/image.jpg')\n\nPoint Cloud\n# Single color (default: red)\nRerunUtils.add_point_cloud(points)\n\n# Multi-color points\ncolors = np.random.randint(0, 255, (100, 3))\nRerunUtils.add_point_cloud(points, colors=colors, label='colored')\n\n# Data format: points (N, 3)\n\nTrajectory\n# Single-color trajectory (default: green)\nRerunUtils.add_trajectory(trajectory)\n\n# Multi-color trajectory\ncolors = np.array([[0, 255, 0], [255, 0, 0]], dtype=np.float32)\nRerunUtils.add_trajectory(trajectory, colors=colors, label='path')\n\n# Data format: traj_endpoints (N, 3)\n\nCamera\n# Camera only (no image)\nRerunUtils.add_camera(pose, label='main_camera')\n\n# Camera with image\nRerunUtils.add_camera(pose, image='path/to/image.jpg', label='rgb_camera')\n\n# Data format: camera_pose (4, 4) or (4, 7)\n\nPlane\n# Plane by center and normal\nRerunUtils.add_plane_from_center_and_normal(center, normal, half_size=1.0)\n\n# Plane from SE3 transformation matrix\nRerunUtils.add_plane_from_Twp(Twp, half_size=1.0)\n\nChessboard\n# Standard chessboard\nRerunUtils.add_chessboard_from_Twp()\n\n# Custom chessboard with colors\nRerunUtils.add_chessboard_from_Twp(\n    rows=9, cols=6, cell_size=0.025,\n    Twp=pose_matrix,\n    color1=np.array([255, 0, 0]),  # Red\n    color2=np.array([0, 0, 255])   # Blue\n    label='calib_board'\n)\n\nInternal Helper\n# Get quaternion from v1 to v2 (used internally for plane rotation)\nquat = RerunUtils._get_quaternion_from_v1_and_v2(v1, v2)\n\nImportant Notes\nInitialization: Call rr.init('name', spawn=True) once before using methods\nStatic methods: All methods are static class methods, no instance needed\nDependencies: Requires Rerun SDK (auto-downloaded via gettool)\nData types: All position inputs must be float32\nCoordinates: Rerun uses ViewCoordinates.RDF (robot-centric coordinate system)\nSE3 poses: Support (4, 4) or (4, 7) matrix formats\nColor format: RGB as numpy arrays with shape (3,)"
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    "owner": "wangyendt",
    "version": "0.1.0",
    "license": null,
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