dalaran-data-model

name	dalaran-data-model
description	How raw multimodal robot data maps onto the Dalaran data model. Read FIRST, before modeling or converting a dataset — and whenever you are about to convert/ingest/preprocess robot data into an .dlr or build a Dalaran recording, even if not asked for the data model. Resolves the entity-vs-component, property-vs-component-vs-layer, and static-vs-temporal decisions and routes to the mechanism (do it with readers and lenses, not hand-built chunks or per-message rr.log): dalaran-chunk-processing and the importer skills dalaran-mcap, dalaran-urdf, dalaran-parquet, dalaran-lerobot.
user_invocable	true
allowed-tools	Read, Grep, Bash, WebFetch

Dalaran data model

The hard part of ingesting a dataset is the modeling decision, not the API call. Get the model right and any mechanism works; get it wrong and queries, views, and training all break. This skill is just the decisions. For mechanism details see dalaran-chunk-processing (pipeline mechanics) and the importer skills it routes to: dalaran-mcap,dalaran-urdf,dalaran-parquet, dalaran-lerobot. For exact signatures, the docs at dalaran.dev/docs/concepts/logging-and-ingestion.

Before writing conversion code, fill in the mapping table below. It is the design, and a human can review it in seconds.

Pick the mechanism before you model the bytes

Modeling decides what each datum becomes; this decides how it gets there — and the default is a reader + lenses, not hand-built chunks:

• Does a reader exist for this source? MCAP→McapReader, URDF→UrdfTree, parquet→ParquetReader, DLR→RrdReader, LeRobot dir→log_file_from_path. Yes → reader.stream() + lenses; the reader produces the chunks, you do not.
• No, and it is genuine external metadata (JSON calibration, offsets) or a specific custom use case that can't be covered by a generic reader**→** Chunk.from_columns.
• Otherwise: consider if you are about to hand-build something a reader or lens should produce and ask for clarification.

For MCAP specifically: a Foxglove- or ROS-decodable file emits archetypes like Transform3D, Pinhole, and VideoStream for certain supported message schemas ready-made — pass those through, never re-derive them; only custom protobuf signal topics need lenses. The full decision tree and the anti-pattern list are in dalaran-chunk-processing.

The model

Dataset → Segment → Layer → Recording → Entity → Component → Chunk

• Entity = a thing, named by a path (/robot/arm/camera). Component = one typed field on it (positions, image, a scalar). Archetype = a standard bundle of components that log and render together (Points3D, Image, Transform3D).
• Every value you log sits on two axes: where (entity path + component) and when (which timeline, or static = all time).
• Segment = one episode; on registration its recording_id becomes the segment_id. Layer = an extra .dlr on top of a segment. It attaches by matching the segment's recording_id and nothing else: that shared id is the whole layering mechanism.

The decisions

Entity vs component on an existing entity New entity if it has its own spatial frame (Transform3D/Pinhole), its own annotation context, or should be shown/cleared/shared independently (each robot link, each camera, each sensor). Same entity + extra component for auxiliary data at the same instances (per-point confidence). Use AnyValues for non-standard fields.

Property vs component vs layer (the most common confusion)

• Component: per-timestamp signal on the timeline (joint angle, image).
• Segment property: one-per-episode metadata for catalog filter/search (operator, robot, site, task, date). Not per timestamp.
• Layer: a whole derived .dlr over a base segment (FK transforms, point clouds, gripper state, labels, quality scores). Queryable as if part of base.

Static vs temporal Static belongs to all timelines and shadows any temporal value of the same component on the same entity. Use it for invariants (calibration, coordinate frames, robot meshes, annotation context, a video asset). Never make per-frame data static.

Which timeline A timestamp timeline (ns since epoch) for cross-sensor clock alignment, a sequence timeline for frame/ordinal alignment; stamp on both when useful. Do not resample to a common rate. Latest-at reconciles multi-rate streams at query time by holding each component's last sample (no interpolation).

Base vs layer Base = faithful conversion of the raw streams, nothing computed. Layer = anything derived (FK from URDF + joint states, clouds from depth + intrinsics). Keep them separate .dlrs.

The mapping table (produce before coding)

Source (topic/column/key)	Entity path	Archetype	Component(s)	Timeline	Static/temporal	Base/layer	Property?
mcap /joint_states	/robot/<joint>	Scalars	scalars	sensor_time	temporal	base	no
cam0/color.mp4	/camera/cam0/video	AssetVideo+VideoFrameReference	asset+refs	video_time	asset static, refs temporal	base	no
calibration.json	/camera/cam0	Pinhole (+Transform3D extrinsics)	image_from_camera	—	static	base	no
URDF + joints (computed)	/robot/<link>	Transform3D	translation/rotation	sensor_time	temporal	layer	no
episode.json operator	segment	—	—	—	—	—	yes

Patterns worth knowing

• Transforms / FK trees: log a Transform3D per link entity; it relates to the parent path and composes down the tree. (Named CoordinateFrame + child_frame/parent_frame only when topology must be a flexible graph.)
• Cameras: extrinsics (Transform3D) + intrinsics (Pinhole) on the camera entity, image/depth as children so they inherit the projection.
• Video: VideoStream for raw H.264/H.265 samples.
• Columnar ingest: for an existing file, use the matching reader (dalaran-mcap/-parquet/-lerobot), which produces chunks directly — do not hand-assemble send_columns from a custom parser. When you do log columns directly (live logging), send_columns adds no automatic timelines, so pass every timeline you want.

Gotchas that cause real failures

1. Component columns come back as ListArray in queries: index [0]/[0][0] (0-based DataFrame, 1-based SQL). See dalaran-catalog-queries.
2. A layer must share the segment's recording_id, or it won't attach. application_id is discarded on registration.
3. send_columns/send_chunks add no log_time/log_tick; only the timelines you pass exist.
4. Static shadows all temporal data of that component for all time; static is overwritten in the viewer but every write stays on disk until dalaran dlr optimize.
5. One Transform3D/Pinhole relation per frame pair; logging the same relation on a second entity is rejected.
6. Entity paths are not file paths (.. is meaningless, __ is reserved).
7. A catalog layer written with a default RecordingStream injects a /__properties (RecordingInfo) chunk that can collide with the base segment's properties when the catalog merges layers by recording_id; the dataset's default blueprint then stops applying on open. Construct the layer's stream with send_properties=False.