A set of static 3D visualization utilities built on the Rerun SDK for logging point clouds, trajectories, and robot poses.
Install & Download
1. ClawHub CLI
The fastest way to install a skill directly from the registry.
npx clawhub@latest install rerun-utils
2. Manual Installation
Copy the skill folder to one of these locations
~/.openclaw/skills/ <project>/skills/ Priority: Workspace > Local > Bundled
3. Prompt Installation
Copy this prompt to OpenClaw to install it automatically.
Help me install rerun-utils using Clawhub. If Clawhub is not installed, install it first (npm i -g clawhub).
Prefer to download?
Get the raw skill files in a ZIP archive.
What is Pywayne Visualization Rerun Utils?
Pywayne Visualization Rerun Utils is a specialized component within the Openclaw Skills ecosystem designed to simplify the visualization of complex 3D data. It provides a clean, static interface for the Rerun SDK, allowing developers to render point clouds, camera trajectories, and calibration targets with minimal boilerplate code. By leveraging these Openclaw Skills, developers can focus on their core algorithms while maintaining high-quality visual debugging tools for robotics and computer vision applications.
The library handles the nuances of 3D rendering, including coordinate system management and data type conversions, ensuring that your data is represented accurately in the Rerun viewer. It is particularly effective for workflows involving SLAM, robot navigation, and sensor fusion where real-time spatial feedback is critical for success.
Pywayne Visualization Rerun Utils Use Cases
- Visualizing real-time SLAM trajectories and camera poses during robot navigation.
- Debugging 3D point cloud data from LiDAR or depth sensors in a centralized viewer.
- Generating automated chessboard visualizations for verifying camera calibration routines.
- Monitoring robot motion planning by rendering planned paths and current coordinate frames.
- Inspecting SE3 transformation matrices and planes in a spatial context.
How Pywayne Visualization Rerun Utils Works
- Initialize the Rerun environment once globally using the standard Rerun initialization sequence.
- Call the static methods of the RerunUtils class from anywhere in your code without needing to pass around a viewer instance.
- Input your 3D data, such as point clouds or transformation matrices, ensuring they follow the float32 format requirements.
- The skill automatically maps the data to the Rerun RDF (Right-Down-Forward) coordinate system and updates the viewer in real-time.
- Customize visualizations by passing optional parameters for colors, labels, and sizes directly to the static methods.
Pywayne Visualization Rerun Utils Setup
To integrate this skill into your workflow, ensure you have the Rerun SDK installed. Within the Openclaw Skills framework, you can use the following setup:
pip install rerun-sdk pywayne
Once installed, initialize the viewer in your Python script:
import rerun as rr
from pywayne.visualization.rerun_utils import RerunUtils
rr.init('your_project_name', spawn=True)
Pywayne Visualization Rerun Utils Data Schema & Taxonomy
The skill organizes data according to specific 3D primitives and coordinate structures. Use the following table as a reference for data inputs:
| Feature | Input Shape | Data Type |
|---|---|---|
| Point Cloud | (N, 3) | float32 |
| Camera Pose | (4, 4) or (4, 7) | float32 |
| Trajectory | (N, 3) | float32 |
| RGB Colors | (N, 3) or (3,) | uint8 or float32 |
| Chessboard | rows, cols, cell_size | int, int, float |
Pywayne Visualization Rerun Utils Advanced Features
- Support for multiple SE3 pose formats including (4, 4) transformation matrices and (4, 7) compact pose vectors.
- Automated quaternion derivation for orienting 3D planes and coordinate frames.
- Static method architecture eliminates the need for managing global state or passing around SDK handles.
- Native compatibility with Rerun ViewCoordinates.RDF, ideal for robotics and drone development.
- Built-in multi-color support for individual points in high-density point clouds.
SKILL.md
Loading
Related Openclaw Skills
Pywayne Plot
A professional-grade visualization toolkit for high-precision time-frequency analysis and enhanced spectrogram generation.
Pywayne Visualization Pangolin Utils
A high-performance Python wrapper for the Pangolin library designed for real-time 3D visualization of robotics and spatial data.
Pywayne Maths
A specialized library of mathematical utilities for number theory, digit analysis, and optimized large integer multiplication using the Karatsuba algorithm.
Magnetometer Calibration (Pywayne)
A high-performance sensor calibration toolkit for computing magnetometer soft-iron matrices and hard-iron offsets.
pywayne-vio-se3
A high-performance Python library for handling SE(3) rigid body transformations, Lie algebra mappings, and 3D pose manipulations.
Shell Shortcuts
A cross-platform collection of terminal functions to standardize proxy management, directory navigation, and GPU monitoring across all operating systems.
Featured*
