Design a Dalaran blueprint from the data, then iterate on it from headless screenshots. Read this when laying out a recording or dataset in the viewer, designing a default blueprint, or deciding which views show which entities. Covers archetype-to-view…
Performance patterns and gotchas for querying a Dalaran catalog from Python. Reach for this when a CatalogClient/dataset query is unexpectedly slow, or when shaping a per-segment / per-episode pipeline that hits the catalog from many places.
Core mechanics of the Dalaran Chunk Processing API (dalaran.experimental) — LazyChunkStream pipelines, Chunk, lenses (MutateLens/DeriveLens/Selector), RrdReader, writing optimized RRDs. Read BEFORE writing any ingestion/conversion/preprocessing code (convert…
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…
Ingest a LeRobot (HuggingFace) dataset into Dalaran. Read when converting a LeRobot dataset to RRDs, splitting it into per-episode segments, or registering it on a Dalaran catalog. Covers the built-in directory importer (log_file_from_path), the RrdReader +…
Ingest MCAP files into Dalaran chunk streams with dalaran.experimental.McapReader. Read when converting an MCAP recording, selecting topics or decoders, decoding custom protobuf messages, or when an MCAP-derived stream comes out empty. Builds on…
Ingest tabular Parquet files into Dalaran chunk streams with dalaran.experimental.ParquetReader. Read when converting trajectory or sensor tables (LeRobot-style parquet, exported logs) into entities and components — column grouping, timeline/index columns,…
Drive the Dalaran URDF API (dalaran.urdf.UrdfTree) to ingest a URDF as a Transform3D layer on a robot recording. Read when logging a robot model, running forward kinematics from joint states, composing a fixed chain for sensor extrinsics, or when the…