box3d()

*,
center: 'npt.ArrayLike',
size: 'npt.ArrayLike',
orientation: 'npt.ArrayLike',
color: 'RGBColor',
label: 'str | None' = None,
score: 'numeric | None' = None

import wandb

import math
import numpy as np
from scipy.spatial.transform import Rotation


with wandb.init() as run:
    run.log(
        {
            "points": wandb.Object3D.from_point_cloud(
                points=np.random.uniform(-5, 5, size=(100, 3)),
                boxes=[
                    wandb.box3d(
                        center=(0.3 * t - 3, 0, 0),
                        size=(0.1, 0.1, 0.1),
                        orientation=Rotation.from_euler(
                            "xyz", [t * math.pi / 10, 0, 0]
                        ).as_quat(),
                        color=(0.5 + t / 40, 0.5, 0.5),
                        label=f"box {t}",
                        score=0.9,
                    )
                    for t in range(20)
                ]
                + [
                    wandb.box3d(
                        center=(0, 0.3 * t - 3, 0.3),
                        size=(0.1, 0.1, 0.1),
                        orientation=Rotation.from_euler(
                            "xyz", [0, t * math.pi / 10, 0]
                        ).as_quat(),
                        color=(0.5, 0.5 + t / 40, 0.5),
                        label=f"box {t}",
                        score=0.9,
                    )
                    for t in range(20)
                ]
                + [
                    wandb.box3d(
                        center=(0.3, 0.3, 0.3 * t - 3),
                        size=(0.1, 0.1, 0.1),
                        orientation=Rotation.from_euler(
                            "xyz", [0, 0, t * math.pi / 10]
                        ).as_quat(),
                        color=(0.5, 0.5, 0.5 + t / 40),
                        label=f"box {t}",
                        score=0.9,
                    )
                    for t in range(20)
                ],
            ),
        }
    )