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flaminis

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• 9 hours ago last updated

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   Dalaran Mcap · flaminis

   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 dalaran-chunk-processing (stream mechanics) and dalaran-data-model (what the topics should become).
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   Dalaran Urdf · flaminis

   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 transform tree will not connect from the data alone. Builds on dalaran-chunk-processing (stream/lens mechanics) and dalaran-data-model (entity paths, timeline, base-vs-layer).
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   Dalaran Lerobot · flaminis

   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 + send_chunks per-episode split, and when to drop to ParquetReader for custom control.
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   Dalaran Parquet · flaminis

   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, static columns, and lenses (DeriveLens) that assemble the typed components (Transform3D, Scalars) from the reader's grouped struct/scalar output. Builds on dalaran-chunk-processing and dalaran-data-model.
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   Dalaran Blueprint · flaminis

   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 mapping, layout reasoning, the rrb construction API, the contents grammar, and the screenshot loop.
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   Dalaran Data Model · flaminis

   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.
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   Dalaran Catalog Queries · flaminis

   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.
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   Dalaran Chunk Processing · flaminis

   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 an MCAP, build a recording from a dataset, preprocess an .dlr, port an old converter): it mandates reader+lens pipelines and steers away from hand-built chunks — no Chunk.from_columns for data a reader/lens can produce, no per-message rr.log, no manual pa.array assembly. Source-specific knowledge lives in the importer skills (dalaran-mcap, dalaran-urdf, dalaran-parquet, dalaran-lerobot); read dalaran-data-model first to decide what the data should become.
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