Rerun

Migrating from 0.23 to 0.24

Changed timeline navigation keyboard shortcut changed-timeline-navigation-keyboard-shortcut

To accommodate the new tree keyboard navigation feature, the timeline navigation is changed as follows:

  • go to previous/next frame is ctrl-left/right (cmd on Mac) arrow (previously no modifier was needed)
  • go to beginning/end of timeline is alt-left/right (previously the ctrl/cmd modifier was used)

Previously deprecated, now removed previously-deprecated-now-removed

Scalar, SeriesLine, SeriesPoint archetypes scalar-seriesline-seriespoint-archetypes

Have been removed in favor of Scalars, SeriesLines, SeriesPoints respectively.

Combining InstancePoses3D with orientations in Boxes3D/Ellipsoids3D/Capsules3D behaves differently in some cases now combining-instanceposes3d-with-orientations-in-boxes3dellipsoids3dcapsules3d-behaves-differently-in-some-cases-now

Previously, Boxes3D/Ellipsoids3D/Capsules3D all mirrored some transform components from InstancePoses3D. However, now that all components have distinct archetype-tags from the transform components in InstancePoses3D, form a separate transform that is applied prior to InstancePoses3D.

I.e. transform resolve order was previously:

final = `Transform3D` * … * `Transform3D` * ([Box3D or `InstancePoses3D].quaternion * [Box3D or `InstancePoses3D].rotation_axis_angle * [Box3D or `InstancePoses3D].centers/translations)

And is now

final = `Transform3D` * … * `Transform3D` * InstancePoses3D * (Box3D.quaternion * Box3D.rotation_axis_angle * Box3D.centers)

As a concrete example, if you previously scaled boxes/ellipsoids/capsules using InstancePoses3D they would be scaled relative to the individual box centers. Now instead they are scaled relative to the entity's center.

Tagged components tagged-components

re_types_core

  • The obvious ComponentDescriptor changes.

re_types

  • Indicator components now become indicator fields. This is only temporary until we get rid of indicators.

re_log_types

  • Removed auto-filling of rerun.components. to ComponentName in path parsing.

re_sorbet

  • Lookup ColumnDescriptor by ArchetypeFieldName instead of ComponentName.
  • Changed ComponentColumnSelector.
  • Changed ComponentColumnDescriptor::column_name to use fully-qualified column names.

rerun_py

  • Dataframe queries now use the new string representation everywhere. It's not allowed to pass in components anymore.
  • resolve_component_column_selector now returns an Option.

With tagged components, our data model becomes much more flexible. We can now have multiple components of the same type living on the same archetype, so we also need a new way to identify columns in a recording. For this we introduce the following new string-based representation:

<entity_path>:[<archetype_name>]:<archetype_field_name>

Note that the archetype_name section is optional, because components can also be logged as plain fields.

Blueprints blueprints

We have updated our logic so that the component field of blueprint.datatypes.ComponentColumnSelector follows the same schema.

LeRobot dataloader

  • Fixed an issue where the LeRobot dataloader logged untagged Name components for robot observations and actions, .rrd files created before 0.24 may include these untagged entries. To fix this, load the dataset in 0.24.0 and resave your episodes to .rrd (0.24.0 now supports saving all selected recordings).
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