From 6623274b52ea50ce7d4ce46530a3aa2ced77a71e Mon Sep 17 00:00:00 2001
From: haixuanTao <tao.xavier@outlook.com>
Date: Tue, 5 Nov 2024 11:16:39 +0100
Subject: [PATCH 1/7] Add urdf-visualization for rerun

---
 examples/piper/dataflow.yml     |  33 ++++++++
 node-hub/dora-rerun/Cargo.toml  |   1 +
 node-hub/dora-rerun/src/main.rs | 134 ++++++++++++++++++++++++++++++--
 3 files changed, 162 insertions(+), 6 deletions(-)
 create mode 100644 examples/piper/dataflow.yml

diff --git a/examples/piper/dataflow.yml b/examples/piper/dataflow.yml
new file mode 100644
index 000000000..1863a53ae
--- /dev/null
+++ b/examples/piper/dataflow.yml
@@ -0,0 +1,33 @@
+nodes:
+  - id: piper_left
+    path: /home/agilex/1ms.ai/piper_sdk/dora_piper.py
+    _unstable_deploy:
+      machine: piper
+    inputs:
+      tick: dora/timer/millis/20
+    outputs:
+      - jointstate
+    env:
+      CAN_BUS: can_left
+
+  - id: piper_right
+    path: /home/agilex/1ms.ai/piper_sdk/dora_piper.py
+    _unstable_deploy:
+      machine: piper
+    inputs:
+      tick: dora/timer/millis/20
+    outputs:
+      - jointstate
+    env:
+      CAN_BUS: can_right
+
+  - id: rerun
+    path: dora-rerun
+    inputs:
+      jointstate_piper_left: piper_left/jointstate
+      jointstate_piper_right: piper_right/jointstate
+    env:
+      piper_left.urdf: /home/peter/Documents/work/dora/node-hub/dora-rerun/assets/piper_left.urdf
+      piper_right.urdf: /home/peter/Documents/work/dora/node-hub/dora-rerun/assets/piper_right.urdf
+      piper_left.transform: 0 0.2 0
+      piper_right.transform: 0 -0.2 0
diff --git a/node-hub/dora-rerun/Cargo.toml b/node-hub/dora-rerun/Cargo.toml
index fc87ed757..dd3c78206 100644
--- a/node-hub/dora-rerun/Cargo.toml
+++ b/node-hub/dora-rerun/Cargo.toml
@@ -15,3 +15,4 @@ eyre = "0.6.8"
 tokio = { version = "1.24.2", features = ["rt"] }
 rerun = { version = "0.18.2", features = ["web_viewer", "image"] }
 ndarray = "0.15.6"
+k = "0.32"
diff --git a/node-hub/dora-rerun/src/main.rs b/node-hub/dora-rerun/src/main.rs
index c0c2cc048..df1d29969 100644
--- a/node-hub/dora-rerun/src/main.rs
+++ b/node-hub/dora-rerun/src/main.rs
@@ -1,18 +1,69 @@
 //! Demonstrates the most barebone usage of the Rerun SDK.
 
-use std::env::VarError;
+use std::{collections::HashMap, env::VarError};
 
 use dora_node_api::{
     arrow::{
-        array::{AsArray, StringArray, StructArray, UInt8Array},
+        array::{AsArray, Float32Array, StringArray, StructArray, UInt8Array},
         datatypes::Float32Type,
     },
     DoraNode, Event, Parameter,
 };
 use eyre::{eyre, Context, ContextCompat, Result};
 use rerun::{
-    components::ImageBuffer, external::re_types::ArrowBuffer, ImageFormat, SpawnOptions, Text,
+    components::{ImageBuffer, RotationAxisAngle},
+    external::re_types::ArrowBuffer,
+    Angle, ImageFormat, Rotation3D, SpawnOptions, Text, Vec3D,
 };
+pub struct MyIntersperse<T, I> {
+    iterator: I,
+    sep: T,
+    nxt: Option<T>,
+}
+
+pub trait MyIntersperseExt<T: Clone, I: Iterator>: Iterator<Item = T> {
+    fn my_intersperse(self, sep: T) -> MyIntersperse<T, I>;
+}
+
+impl<T: Clone, I: Iterator<Item = T>> MyIntersperseExt<T, I> for I {
+    fn my_intersperse(mut self, sep: T) -> MyIntersperse<T, I> {
+        let next = self.next();
+        MyIntersperse {
+            iterator: self,
+            sep: sep.clone(),
+            nxt: next,
+        }
+    }
+}
+
+impl<T: Clone, I: Iterator<Item = T>> Iterator for MyIntersperse<T, I> {
+    type Item = T;
+    fn next(&mut self) -> Option<Self::Item> {
+        if let Some(item) = self.nxt.take() {
+            Some(item)
+        } else {
+            self.nxt = self.iterator.next();
+            if self.nxt.is_some() {
+                Some(self.sep.clone())
+            } else {
+                None
+            }
+        }
+    }
+}
+
+fn get_entity_path(link: &k::Node<f32>, urdf_path: &str) -> String {
+    let mut ancestors: Vec<_> = link
+        .iter_ancestors()
+        .map(|node| node.link().as_ref().unwrap().name.clone())
+        .collect();
+    ancestors.push(String::from(urdf_path));
+    ancestors
+        .into_iter()
+        .rev()
+        .my_intersperse(String::from("/"))
+        .collect()
+}
 
 fn main() -> Result<()> {
     // rerun `serve()` requires to have a running Tokio runtime in the current context.
@@ -21,9 +72,6 @@ fn main() -> Result<()> {
         .expect("Failed to create tokio runtime");
     let _guard = rt.enter();
 
-    let (_node, mut events) =
-        DoraNode::init_from_env().context("Could not initialize dora node")?;
-
     // Limit memory usage
     let mut options = SpawnOptions::default();
 
@@ -43,6 +91,40 @@ fn main() -> Result<()> {
         .spawn_opts(&options, None)
         .context("Could not spawn rerun visualization")?;
 
+    // Get all env variable that start with URDF_
+    let urdfs = std::env::vars()
+        .filter(|(key, _)| key.ends_with(".urdf"))
+        .collect::<Vec<_>>();
+    let mut chains = HashMap::new();
+    for (key, urdf_path) in urdfs {
+        let chain = k::Chain::<f32>::from_urdf_file(&urdf_path).unwrap();
+
+        let transform = key.replace(".urdf", ".transform");
+        rec.log_file_from_path(&urdf_path, None, false).unwrap();
+        // Get transform by replacing URDF_ with TRANSFORM_
+        if let Ok(transform) = std::env::var(transform) {
+            let transform = transform
+                .split(' ')
+                .map(|x| x.parse::<f32>().unwrap())
+                .collect::<Vec<f32>>();
+            rec.log(
+                key.clone(),
+                &rerun::Transform3D::from_translation_rotation(
+                    [transform[0], transform[1], transform[2]],
+                    Rotation3D::AxisAngle(RotationAxisAngle::new(
+                        [0., 0., 0.],
+                        Angle::from_degrees(0.0),
+                    )),
+                ),
+            )
+            .unwrap();
+            println!("{}: {}", key, urdf_path);
+            chains.insert(key, chain);
+        }
+    }
+    let (_node, mut events) =
+        DoraNode::init_from_env().context("Could not initialize dora node")?;
+
     match std::env::var("README") {
         Ok(readme) => {
             readme
@@ -199,6 +281,46 @@ fn main() -> Result<()> {
                     &rerun::Boxes2D::from_centers_and_sizes(centers, sizes).with_labels(labels),
                 )
                 .wrap_err("Could not log Boxes2D")?;
+            } else if id.as_str().contains("jointstate") {
+                let buffer: &Float32Array = data.as_any().downcast_ref().unwrap();
+                let mut positions: Vec<f32> = buffer.values().to_vec();
+                positions.push(0.);
+                positions.push(0.);
+
+                // Set position 1 between 0 and pi
+                let mut id = id.as_str().replace("jointstate_", "");
+                id.push_str(".urdf");
+                if let Some(chain) = &chains.get(&id) {
+                    chain.set_joint_positions_clamped(&positions);
+
+                    chain.update_transforms();
+                    chain.update_link_transforms();
+
+                    for link_name in chain.iter_links().map(|link| link.name.clone()) {
+                        let link = chain.find_link(&link_name).unwrap();
+                        let entity_path = get_entity_path(&link, &id);
+                        let link_to_world = link.world_transform().unwrap();
+                        let link_to_parent = if link_name != "base_link" {
+                            let parent = link.parent().unwrap();
+                            parent.world_transform().unwrap().inv_mul(&link_to_world)
+                        } else {
+                            link_to_world
+                        };
+                        let link_to_parent_mat = link_to_parent.to_matrix();
+
+                        let trans = link_to_parent_mat.column(3);
+                        let trans = trans.as_slice();
+                        let quat = link_to_parent.rotation.quaternion();
+                        rec.log(
+                            entity_path,
+                            &rerun::Transform3D::from_translation_rotation(
+                                Vec3D::new(trans[0], trans[1], trans[2]),
+                                rerun::Quaternion::from([quat.i, quat.j, quat.k, quat.w]),
+                            ),
+                        )
+                        .unwrap();
+                    }
+                }
             }
         }
     }

From da044e9d1c2ce6e7ea798ffd07cfab4ef6f34d66 Mon Sep 17 00:00:00 2001
From: haixuanTao <tao.xavier@outlook.com>
Date: Wed, 6 Nov 2024 08:04:43 +0100
Subject: [PATCH 2/7] Bump rerun to version 0.19

---
 node-hub/dora-rerun/Cargo.toml  |   2 +-
 node-hub/dora-rerun/src/main.rs | 103 ++++++++++++++++++++------------
 2 files changed, 65 insertions(+), 40 deletions(-)

diff --git a/node-hub/dora-rerun/Cargo.toml b/node-hub/dora-rerun/Cargo.toml
index dd3c78206..fe4f2391b 100644
--- a/node-hub/dora-rerun/Cargo.toml
+++ b/node-hub/dora-rerun/Cargo.toml
@@ -13,6 +13,6 @@ repository.workspace = true
 dora-node-api = { workspace = true, features = ["tracing"] }
 eyre = "0.6.8"
 tokio = { version = "1.24.2", features = ["rt"] }
-rerun = { version = "0.18.2", features = ["web_viewer", "image"] }
+rerun = { version = "0.19.0", features = ["web_viewer", "image"] }
 ndarray = "0.15.6"
 k = "0.32"
diff --git a/node-hub/dora-rerun/src/main.rs b/node-hub/dora-rerun/src/main.rs
index df1d29969..2ef4e82ed 100644
--- a/node-hub/dora-rerun/src/main.rs
+++ b/node-hub/dora-rerun/src/main.rs
@@ -10,10 +10,11 @@ use dora_node_api::{
     DoraNode, Event, Parameter,
 };
 use eyre::{eyre, Context, ContextCompat, Result};
+use k::Chain;
 use rerun::{
     components::{ImageBuffer, RotationAxisAngle},
     external::re_types::ArrowBuffer,
-    Angle, ImageFormat, Rotation3D, SpawnOptions, Text, Vec3D,
+    Angle, ImageFormat, RecordingStream, Rotation3D, SpawnOptions, Text, Vec3D,
 };
 pub struct MyIntersperse<T, I> {
     iterator: I,
@@ -65,6 +66,46 @@ fn get_entity_path(link: &k::Node<f32>, urdf_path: &str) -> String {
         .collect()
 }
 
+fn update_visualization(
+    chain: &Chain<f32>,
+    rec: &RecordingStream,
+    id: &str,
+    positions: &[f32],
+) -> Result<()> {
+    chain.set_joint_positions_clamped(&positions);
+
+    chain.update_transforms();
+    chain.update_link_transforms();
+
+    for link_name in chain.iter_links().map(|link| link.name.clone()) {
+        let link = chain.find_link(&link_name).unwrap();
+        let entity_path = get_entity_path(&link, &id);
+        let link_to_world = link
+            .world_transform()
+            .context("Could not get world transform")?;
+        let link_to_parent = if link_name != "base_link" {
+            let parent = link.parent().unwrap();
+            parent.world_transform().unwrap().inv_mul(&link_to_world)
+        } else {
+            link_to_world
+        };
+        let link_to_parent_mat = link_to_parent.to_matrix();
+
+        let trans = link_to_parent_mat.column(3);
+        let trans = trans.as_slice();
+        let quat = link_to_parent.rotation.quaternion();
+        rec.log(
+            entity_path,
+            &rerun::Transform3D::from_translation_rotation(
+                Vec3D::new(trans[0], trans[1], trans[2]),
+                rerun::Quaternion::from([quat.i, quat.j, quat.k, quat.w]),
+            ),
+        )
+        .context("Could not log transform")?;
+    }
+    Ok(())
+}
+
 fn main() -> Result<()> {
     // rerun `serve()` requires to have a running Tokio runtime in the current context.
     let rt = tokio::runtime::Builder::new_current_thread()
@@ -93,13 +134,14 @@ fn main() -> Result<()> {
 
     // Get all env variable that start with URDF_
     let urdfs = std::env::vars()
-        .filter(|(key, _)| key.ends_with(".urdf"))
+        .filter(|(key, _)| key.ends_with("_urdf"))
         .collect::<Vec<_>>();
     let mut chains = HashMap::new();
     for (key, urdf_path) in urdfs {
+        let path = key.replace("_urdf", ".urdf");
         let chain = k::Chain::<f32>::from_urdf_file(&urdf_path).unwrap();
 
-        let transform = key.replace(".urdf", ".transform");
+        let transform = key.replace("_urdf", "_transform");
         rec.log_file_from_path(&urdf_path, None, false).unwrap();
         // Get transform by replacing URDF_ with TRANSFORM_
         if let Ok(transform) = std::env::var(transform) {
@@ -108,7 +150,7 @@ fn main() -> Result<()> {
                 .map(|x| x.parse::<f32>().unwrap())
                 .collect::<Vec<f32>>();
             rec.log(
-                key.clone(),
+                path.clone(),
                 &rerun::Transform3D::from_translation_rotation(
                     [transform[0], transform[1], transform[2]],
                     Rotation3D::AxisAngle(RotationAxisAngle::new(
@@ -118,8 +160,7 @@ fn main() -> Result<()> {
                 ),
             )
             .unwrap();
-            println!("{}: {}", key, urdf_path);
-            chains.insert(key, chain);
+            chains.insert(path, chain);
         }
     }
     let (_node, mut events) =
@@ -282,45 +323,29 @@ fn main() -> Result<()> {
                 )
                 .wrap_err("Could not log Boxes2D")?;
             } else if id.as_str().contains("jointstate") {
-                let buffer: &Float32Array = data.as_any().downcast_ref().unwrap();
+                let buffer: &Float32Array = data
+                    .as_any()
+                    .downcast_ref()
+                    .context("data is not float32")?;
                 let mut positions: Vec<f32> = buffer.values().to_vec();
-                positions.push(0.);
-                positions.push(0.);
 
-                // Set position 1 between 0 and pi
+                // Match file name
                 let mut id = id.as_str().replace("jointstate_", "");
                 id.push_str(".urdf");
-                if let Some(chain) = &chains.get(&id) {
-                    chain.set_joint_positions_clamped(&positions);
-
-                    chain.update_transforms();
-                    chain.update_link_transforms();
-
-                    for link_name in chain.iter_links().map(|link| link.name.clone()) {
-                        let link = chain.find_link(&link_name).unwrap();
-                        let entity_path = get_entity_path(&link, &id);
-                        let link_to_world = link.world_transform().unwrap();
-                        let link_to_parent = if link_name != "base_link" {
-                            let parent = link.parent().unwrap();
-                            parent.world_transform().unwrap().inv_mul(&link_to_world)
-                        } else {
-                            link_to_world
-                        };
-                        let link_to_parent_mat = link_to_parent.to_matrix();
-
-                        let trans = link_to_parent_mat.column(3);
-                        let trans = trans.as_slice();
-                        let quat = link_to_parent.rotation.quaternion();
-                        rec.log(
-                            entity_path,
-                            &rerun::Transform3D::from_translation_rotation(
-                                Vec3D::new(trans[0], trans[1], trans[2]),
-                                rerun::Quaternion::from([quat.i, quat.j, quat.k, quat.w]),
-                            ),
-                        )
-                        .unwrap();
+
+                let chain = chains.get(&id).unwrap();
+                let dof = chain.dof();
+
+                // Truncate or pad positions to match the chain's dof
+                if dof < positions.len() {
+                    positions.truncate(dof);
+                } else {
+                    for _ in 0..(dof - positions.len()) {
+                        positions.push(0.);
                     }
                 }
+
+                update_visualization(&chain, &rec, &id, &positions)?;
             }
         }
     }

From ab5bde256bf6045f11253edbf65812a442ce16d9 Mon Sep 17 00:00:00 2001
From: haixuanTao <tao.xavier@outlook.com>
Date: Thu, 7 Nov 2024 13:20:40 +0100
Subject: [PATCH 3/7] Make dora rerun easier to read

---
 node-hub/dora-rerun/README.md      | 22 +++++++
 node-hub/dora-rerun/pyproject.toml |  4 ++
 node-hub/dora-rerun/src/main.rs    | 95 +-----------------------------
 node-hub/dora-rerun/src/urdf.rs    | 95 ++++++++++++++++++++++++++++++
 4 files changed, 124 insertions(+), 92 deletions(-)
 create mode 100644 node-hub/dora-rerun/src/urdf.rs

diff --git a/node-hub/dora-rerun/README.md b/node-hub/dora-rerun/README.md
index 83c736e73..7e3305e6d 100644
--- a/node-hub/dora-rerun/README.md
+++ b/node-hub/dora-rerun/README.md
@@ -33,6 +33,28 @@ cargo install --git https://github.com/dora-rs/dora dora-rerun
 - image: UInt8Array + metadata { "width": int, "height": int, "encoding": str }
 - boxes2D: StructArray + metadata { "format": str }
 - text: StringArray
+- jointstate: Float32Array
+
+## (Experimental) For plotting 3D URDF
+
+```bash
+pip install git+https://github.com/rerun-io/rerun-loader-python-example-urdf.git
+```
+
+Make sure to name the dataflow as follows:
+
+```yaml
+- id: rerun
+  path: dora-rerun
+  inputs:
+    jointstate_<ENTITY_NAME>: <ENTITY_NAME>/jointstate
+  env:
+    <ENTITY_NAME>_urdf: /path/to/<ENTITY_NAME>.urdf
+    <ENTITY_NAME>_transform: 0 0.3 0
+```
+
+> [!IMPORTANT]  
+> Make sure that the urdf file name correspond to your dataflow object name otherwise, it will not be able to link to the corresponding entity.
 
 ## Configurations
 
diff --git a/node-hub/dora-rerun/pyproject.toml b/node-hub/dora-rerun/pyproject.toml
index c0f314b2a..52e313479 100644
--- a/node-hub/dora-rerun/pyproject.toml
+++ b/node-hub/dora-rerun/pyproject.toml
@@ -4,3 +4,7 @@ build-backend = "maturin"
 
 [project]
 name = "dora-rerun"
+dependencies = [
+    'rerun_sdk==0.19.1',
+    "git+https://github.com/rerun-io/rerun-loader-python-example-urdf.git",
+]
diff --git a/node-hub/dora-rerun/src/main.rs b/node-hub/dora-rerun/src/main.rs
index 2ef4e82ed..d1a1ef8b7 100644
--- a/node-hub/dora-rerun/src/main.rs
+++ b/node-hub/dora-rerun/src/main.rs
@@ -1,6 +1,7 @@
 //! Demonstrates the most barebone usage of the Rerun SDK.
 
 use std::{collections::HashMap, env::VarError};
+pub mod urdf;
 
 use dora_node_api::{
     arrow::{
@@ -10,101 +11,11 @@ use dora_node_api::{
     DoraNode, Event, Parameter,
 };
 use eyre::{eyre, Context, ContextCompat, Result};
-use k::Chain;
 use rerun::{
     components::{ImageBuffer, RotationAxisAngle},
     external::re_types::ArrowBuffer,
-    Angle, ImageFormat, RecordingStream, Rotation3D, SpawnOptions, Text, Vec3D,
+    Angle, ImageFormat, Rotation3D, SpawnOptions, Text,
 };
-pub struct MyIntersperse<T, I> {
-    iterator: I,
-    sep: T,
-    nxt: Option<T>,
-}
-
-pub trait MyIntersperseExt<T: Clone, I: Iterator>: Iterator<Item = T> {
-    fn my_intersperse(self, sep: T) -> MyIntersperse<T, I>;
-}
-
-impl<T: Clone, I: Iterator<Item = T>> MyIntersperseExt<T, I> for I {
-    fn my_intersperse(mut self, sep: T) -> MyIntersperse<T, I> {
-        let next = self.next();
-        MyIntersperse {
-            iterator: self,
-            sep: sep.clone(),
-            nxt: next,
-        }
-    }
-}
-
-impl<T: Clone, I: Iterator<Item = T>> Iterator for MyIntersperse<T, I> {
-    type Item = T;
-    fn next(&mut self) -> Option<Self::Item> {
-        if let Some(item) = self.nxt.take() {
-            Some(item)
-        } else {
-            self.nxt = self.iterator.next();
-            if self.nxt.is_some() {
-                Some(self.sep.clone())
-            } else {
-                None
-            }
-        }
-    }
-}
-
-fn get_entity_path(link: &k::Node<f32>, urdf_path: &str) -> String {
-    let mut ancestors: Vec<_> = link
-        .iter_ancestors()
-        .map(|node| node.link().as_ref().unwrap().name.clone())
-        .collect();
-    ancestors.push(String::from(urdf_path));
-    ancestors
-        .into_iter()
-        .rev()
-        .my_intersperse(String::from("/"))
-        .collect()
-}
-
-fn update_visualization(
-    chain: &Chain<f32>,
-    rec: &RecordingStream,
-    id: &str,
-    positions: &[f32],
-) -> Result<()> {
-    chain.set_joint_positions_clamped(&positions);
-
-    chain.update_transforms();
-    chain.update_link_transforms();
-
-    for link_name in chain.iter_links().map(|link| link.name.clone()) {
-        let link = chain.find_link(&link_name).unwrap();
-        let entity_path = get_entity_path(&link, &id);
-        let link_to_world = link
-            .world_transform()
-            .context("Could not get world transform")?;
-        let link_to_parent = if link_name != "base_link" {
-            let parent = link.parent().unwrap();
-            parent.world_transform().unwrap().inv_mul(&link_to_world)
-        } else {
-            link_to_world
-        };
-        let link_to_parent_mat = link_to_parent.to_matrix();
-
-        let trans = link_to_parent_mat.column(3);
-        let trans = trans.as_slice();
-        let quat = link_to_parent.rotation.quaternion();
-        rec.log(
-            entity_path,
-            &rerun::Transform3D::from_translation_rotation(
-                Vec3D::new(trans[0], trans[1], trans[2]),
-                rerun::Quaternion::from([quat.i, quat.j, quat.k, quat.w]),
-            ),
-        )
-        .context("Could not log transform")?;
-    }
-    Ok(())
-}
 
 fn main() -> Result<()> {
     // rerun `serve()` requires to have a running Tokio runtime in the current context.
@@ -345,7 +256,7 @@ fn main() -> Result<()> {
                     }
                 }
 
-                update_visualization(&chain, &rec, &id, &positions)?;
+                urdf::update_visualization(&chain, &rec, &id, &positions)?;
             }
         }
     }
diff --git a/node-hub/dora-rerun/src/urdf.rs b/node-hub/dora-rerun/src/urdf.rs
new file mode 100644
index 000000000..5aa71a6c2
--- /dev/null
+++ b/node-hub/dora-rerun/src/urdf.rs
@@ -0,0 +1,95 @@
+use eyre::{Context, ContextCompat, Result};
+use k::Chain;
+use rerun::{RecordingStream, Vec3D};
+pub struct MyIntersperse<T, I> {
+    iterator: I,
+    sep: T,
+    nxt: Option<T>,
+}
+
+pub trait MyIntersperseExt<T: Clone, I: Iterator>: Iterator<Item = T> {
+    fn my_intersperse(self, sep: T) -> MyIntersperse<T, I>;
+}
+
+impl<T: Clone, I: Iterator<Item = T>> MyIntersperseExt<T, I> for I {
+    fn my_intersperse(mut self, sep: T) -> MyIntersperse<T, I> {
+        let next = self.next();
+        MyIntersperse {
+            iterator: self,
+            sep: sep.clone(),
+            nxt: next,
+        }
+    }
+}
+
+impl<T: Clone, I: Iterator<Item = T>> Iterator for MyIntersperse<T, I> {
+    type Item = T;
+    fn next(&mut self) -> Option<Self::Item> {
+        if let Some(item) = self.nxt.take() {
+            Some(item)
+        } else {
+            self.nxt = self.iterator.next();
+            if self.nxt.is_some() {
+                Some(self.sep.clone())
+            } else {
+                None
+            }
+        }
+    }
+}
+
+fn get_entity_path(link: &k::Node<f32>, urdf_path: &str) -> String {
+    let mut ancestors: Vec<_> = link
+        .iter_ancestors()
+        .map(|node| node.link().as_ref().unwrap().name.clone())
+        .collect();
+    ancestors.push(String::from(urdf_path));
+    ancestors
+        .into_iter()
+        .rev()
+        .my_intersperse(String::from("/"))
+        .collect()
+}
+
+pub fn update_visualization(
+    chain: &Chain<f32>,
+    rec: &RecordingStream,
+    id: &str,
+    positions: &[f32],
+) -> Result<()> {
+    chain.set_joint_positions_clamped(&positions);
+
+    chain.update_transforms();
+    chain.update_link_transforms();
+
+    for link_name in chain.iter_links().map(|link| link.name.clone()) {
+        let link = chain.find_link(&link_name).context("Could not find link")?;
+        let entity_path = get_entity_path(&link, &id);
+        let link_to_world = link
+            .world_transform()
+            .context("Could not get world transform")?;
+        let link_to_parent = if link_name != "base_link" {
+            let parent = link.parent().context("could not get parent")?;
+            parent
+                .world_transform()
+                .context("Could not get world transform")?
+                .inv_mul(&link_to_world)
+        } else {
+            link_to_world
+        };
+        let link_to_parent_mat = link_to_parent.to_matrix();
+
+        let trans = link_to_parent_mat.column(3);
+        let trans = trans.as_slice();
+        let quat = link_to_parent.rotation.quaternion();
+        rec.log(
+            entity_path,
+            &rerun::Transform3D::from_translation_rotation(
+                Vec3D::new(trans[0], trans[1], trans[2]),
+                rerun::Quaternion::from([quat.i, quat.j, quat.k, quat.w]),
+            ),
+        )
+        .context("Could not log transform")?;
+    }
+    Ok(())
+}

From 3dfcbabf5bf394a622ba1e797c474d6e098a782a Mon Sep 17 00:00:00 2001
From: haixuanTao <tao.xavier@outlook.com>
Date: Thu, 7 Nov 2024 13:29:15 +0100
Subject: [PATCH 4/7] Add piper rerun example

---
 examples/piper/assets/piper_left.urdf       | 568 ++++++++++++++++++++
 examples/piper/assets/piper_left_pred.urdf  | 568 ++++++++++++++++++++
 examples/piper/assets/piper_right.urdf      | 568 ++++++++++++++++++++
 examples/piper/assets/piper_right_pred.urdf | 568 ++++++++++++++++++++
 examples/piper/piper_inference.py           | 229 ++++++++
 examples/piper/play_inference.yml           |  22 +
 6 files changed, 2523 insertions(+)
 create mode 100644 examples/piper/assets/piper_left.urdf
 create mode 100644 examples/piper/assets/piper_left_pred.urdf
 create mode 100644 examples/piper/assets/piper_right.urdf
 create mode 100644 examples/piper/assets/piper_right_pred.urdf
 create mode 100644 examples/piper/piper_inference.py
 create mode 100644 examples/piper/play_inference.yml

diff --git a/examples/piper/assets/piper_left.urdf b/examples/piper/assets/piper_left.urdf
new file mode 100644
index 000000000..99fde57d9
--- /dev/null
+++ b/examples/piper/assets/piper_left.urdf
@@ -0,0 +1,568 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="piper_description">
+  <link
+    name="base_link">
+    <!-- <inertial>
+      <origin
+        xyz="-0.00973928490005031 1.8312708928633E-06 0.0410140167677137"
+        rpy="0 0 0" />
+      <mass
+        value="0.162352169522719" />
+      <inertia
+        ixx="0.000226592553127906"
+        ixy="-7.33974356968813E-08"
+        ixz="2.13221970218123E-06"
+        iyy="0.000269447877479622"
+        iyz="8.15167478685076E-09"
+        izz="0.000222318286704" />
+    </inertial> -->
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/base_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/base_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link1">
+    <inertial>
+      <origin
+        xyz="0.00131676031927021 0.000310288842008364 -0.00922874512303438"
+        rpy="0 0 0" />
+      <mass
+        value="0.0978679932242825" />
+      <inertia
+        ixx="7.76684558296781E-05"
+        ixy="1.09084650459916E-07"
+        ixz="-1.97480532432411E-06"
+        iyy="9.24967780161546E-05"
+        iyz="9.91284646834672E-07"
+        izz="8.24589062407806E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link1.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link1.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.123"
+      rpy="0 0 -1.5708" />
+    <parent
+      link="base_link" />
+    <child
+      link="link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.618"
+      upper="2.618"
+      effort="100"
+      velocity="0" />
+  </joint>
+  <link
+    name="link2">
+    <inertial>
+      <origin
+        xyz="0.147615838821413 -0.0174259998251393 0.00175952516190707"
+        rpy="0 0 0" />
+      <mass
+        value="0.289571136953082" />
+      <inertia
+        ixx="0.000150112628108228"
+        ixy="8.58974959950769E-05"
+        ixz="-1.07428153464285E-06"
+        iyy="0.00172585302855383"
+        iyz="-9.93704792239686E-07"
+        izz="0.00177445942914759" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link2.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link2.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -0.10095 -1.5708" />
+    <parent
+      link="link1" />
+    <child
+      link="link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3.14"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin
+        xyz="0.0156727246030052 0.104466514905741 0.000508486764144372"
+        rpy="0 0 0" />
+      <mass
+        value="0.290583247455324" />
+      <inertia
+        ixx="0.000221686352136266"
+        ixy="-7.57426543992343E-06"
+        ixz="-6.3700062772173E-07"
+        iyy="0.000100859162015934"
+        iyz="-8.16202696860781E-07"
+        izz="0.000241839316548946" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link3.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link3.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint3"
+    type="revolute">
+    <origin
+      xyz="0.28503 0 0"
+      rpy="0 0 1.3826" />
+    <parent
+      link="link2" />
+    <child
+      link="link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.967"
+      upper="0"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link4">
+    <inertial>
+      <origin
+        xyz="0.000276464622388145 -0.00102803669324853 -0.00472830700561612"
+        rpy="0 0 0" />
+      <mass
+        value="0.127087348341362" />
+      <inertia
+        ixx="3.82011730423098E-05"
+        ixy="-4.92358351033589E-08"
+        ixz="4.89589432983109E-08"
+        iyy="4.87048555222491E-05"
+        iyz="6.70802942486707E-08"
+        izz="4.10592077565155E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link4.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link4.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint4"
+    type="revolute">
+    <origin
+      xyz="0.021984 0.25075 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="link3" />
+    <child
+      link="link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.832"
+      upper="1.832"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link5">
+    <inertial>
+      <origin
+        xyz="8.82261259100015E-05 0.056682908434204 -0.00196119077436732"
+        rpy="0 0 0" />
+      <mass
+        value="0.144711209371719" />
+      <inertia
+        ixx="4.39644269159173E-05"
+        ixy="-3.59214840853815E-08"
+        ixz="-1.89785003257649E-08"
+        iyy="5.63173857792457E-05"
+        iyz="-2.15407623722543E-07"
+        izz="4.88713595021005E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link5.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link5.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint5"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -0.087266 0" />
+    <parent
+      link="link4" />
+    <child
+      link="link5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.22"
+      upper="1.22"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link6">
+    <inertial>
+      <origin
+        xyz="9.41121070072333E-09 0.000341209775988838 0.0342122921883722"
+        rpy="0 0 0" />
+      <mass
+        value="0.150196458571266" />
+      <inertia
+        ixx="4.31750564711759E-05"
+        ixy="-2.21295720427027E-08"
+        ixz="-3.27825836857102E-12"
+        iyy="9.99756357365307E-05"
+        iyz="1.10337380549335E-07"
+        izz="0.000118282295533688" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link6.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link6.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint6"
+    type="revolute">
+    <origin
+      xyz="0 0.091 0.0014165"
+      rpy="-1.5708 -1.5708 0" />
+    <parent
+      link="link5" />
+    <child
+      link="link6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="100"
+      velocity="1" />
+  </joint>
+
+  <link
+    name="link7">
+    <inertial>
+      <origin
+        xyz="-0.000277795893713934 -0.046767350270289 -0.00921029791141448"
+        rpy="0 0 0" />
+      <mass
+        value="0.0264822500394006" />
+      <inertia
+        ixx="9.99782519244544E-06"
+        ixy="-1.57547595978589E-07"
+        ixz="-2.71355785017816E-08"
+        iyy="6.17952364356547E-06"
+        iyz="-1.58939504838734E-06"
+        izz="1.42102253390315E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link7.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link7.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint7"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.13503"
+      rpy="1.5708 0 1.5708" />
+    <parent
+      link="link6" />
+    <child
+      link="link7" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.038"
+      upper="0"
+      effort="100"
+      velocity="1" />
+  </joint>
+
+  <link
+    name="link8">
+    <inertial>
+      <origin
+        xyz="0.000277795911672651 0.0467673513153836 -0.00921029799058583"
+        rpy="0 0 0" />
+      <mass
+        value="0.0264822490707451" />
+      <inertia
+        ixx="9.99782474142963E-06"
+        ixy="-1.57547666236405E-07"
+        ixz="2.71355834243046E-08"
+        iyy="6.17952362333486E-06"
+        iyz="1.58939503259658E-06"
+        izz="1.42102248648757E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link8.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link8.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint8"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.13503"
+      rpy="-1.5708 0 1.5708" />
+    <parent
+      link="link6" />
+    <child
+      link="link8" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.038"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <!-- <link
+    name="link8">
+    <inertial>
+      <origin
+        xyz="-0.000277795893713934 -0.046767350270289 -0.00921029791141448"
+        rpy="0 0 0" />
+      <mass
+        value="0.0264822500394006" />
+      <inertia
+        ixx="9.99782519244544E-06"
+        ixy="-1.57547595978589E-07"
+        ixz="-2.71355785017816E-08"
+        iyy="6.17952364356547E-06"
+        iyz="-1.58939504838734E-06"
+        izz="1.42102253390315E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link8.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link8.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint8"
+    type="prismatic">
+    <origin
+      xyz="-0.037167 0 0.13503"
+      rpy="1.5708 0 1.5708" />
+    <parent
+      link="link6" />
+    <child
+      link="link8" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.038"
+      upper="0"
+      effort="100"
+      velocity="1" />
+  </joint> -->
+</robot>
\ No newline at end of file
diff --git a/examples/piper/assets/piper_left_pred.urdf b/examples/piper/assets/piper_left_pred.urdf
new file mode 100644
index 000000000..a74ed6c3c
--- /dev/null
+++ b/examples/piper/assets/piper_left_pred.urdf
@@ -0,0 +1,568 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="piper_description">
+  <link
+    name="base_link">
+    <!-- <inertial>
+      <origin
+        xyz="-0.00973928490005031 1.8312708928633E-06 0.0410140167677137"
+        rpy="0 0 0" />
+      <mass
+        value="0.162352169522719" />
+      <inertia
+        ixx="0.000226592553127906"
+        ixy="-7.33974356968813E-08"
+        ixz="2.13221970218123E-06"
+        iyy="0.000269447877479622"
+        iyz="8.15167478685076E-09"
+        izz="0.000222318286704" />
+    </inertial> -->
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/base_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/base_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link1">
+    <inertial>
+      <origin
+        xyz="0.00131676031927021 0.000310288842008364 -0.00922874512303438"
+        rpy="0 0 0" />
+      <mass
+        value="0.0978679932242825" />
+      <inertia
+        ixx="7.76684558296781E-05"
+        ixy="1.09084650459916E-07"
+        ixz="-1.97480532432411E-06"
+        iyy="9.24967780161546E-05"
+        iyz="9.91284646834672E-07"
+        izz="8.24589062407806E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link1.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link1.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.123"
+      rpy="0 0 -1.5708" />
+    <parent
+      link="base_link" />
+    <child
+      link="link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.618"
+      upper="2.618"
+      effort="100"
+      velocity="0" />
+  </joint>
+  <link
+    name="link2">
+    <inertial>
+      <origin
+        xyz="0.147615838821413 -0.0174259998251393 0.00175952516190707"
+        rpy="0 0 0" />
+      <mass
+        value="0.289571136953082" />
+      <inertia
+        ixx="0.000150112628108228"
+        ixy="8.58974959950769E-05"
+        ixz="-1.07428153464285E-06"
+        iyy="0.00172585302855383"
+        iyz="-9.93704792239686E-07"
+        izz="0.00177445942914759" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link2.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link2.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -0.10095 -1.5708" />
+    <parent
+      link="link1" />
+    <child
+      link="link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3.14"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin
+        xyz="0.0156727246030052 0.104466514905741 0.000508486764144372"
+        rpy="0 0 0" />
+      <mass
+        value="0.290583247455324" />
+      <inertia
+        ixx="0.000221686352136266"
+        ixy="-7.57426543992343E-06"
+        ixz="-6.3700062772173E-07"
+        iyy="0.000100859162015934"
+        iyz="-8.16202696860781E-07"
+        izz="0.000241839316548946" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link3.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link3.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint3"
+    type="revolute">
+    <origin
+      xyz="0.28503 0 0"
+      rpy="0 0 1.3826" />
+    <parent
+      link="link2" />
+    <child
+      link="link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.967"
+      upper="0"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link4">
+    <inertial>
+      <origin
+        xyz="0.000276464622388145 -0.00102803669324853 -0.00472830700561612"
+        rpy="0 0 0" />
+      <mass
+        value="0.127087348341362" />
+      <inertia
+        ixx="3.82011730423098E-05"
+        ixy="-4.92358351033589E-08"
+        ixz="4.89589432983109E-08"
+        iyy="4.87048555222491E-05"
+        iyz="6.70802942486707E-08"
+        izz="4.10592077565155E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link4.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link4.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint4"
+    type="revolute">
+    <origin
+      xyz="0.021984 0.25075 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="link3" />
+    <child
+      link="link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.832"
+      upper="1.832"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link5">
+    <inertial>
+      <origin
+        xyz="8.82261259100015E-05 0.056682908434204 -0.00196119077436732"
+        rpy="0 0 0" />
+      <mass
+        value="0.144711209371719" />
+      <inertia
+        ixx="4.39644269159173E-05"
+        ixy="-3.59214840853815E-08"
+        ixz="-1.89785003257649E-08"
+        iyy="5.63173857792457E-05"
+        iyz="-2.15407623722543E-07"
+        izz="4.88713595021005E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link5.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link5.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint5"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -0.087266 0" />
+    <parent
+      link="link4" />
+    <child
+      link="link5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.22"
+      upper="1.22"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link6">
+    <inertial>
+      <origin
+        xyz="9.41121070072333E-09 0.000341209775988838 0.0342122921883722"
+        rpy="0 0 0" />
+      <mass
+        value="0.150196458571266" />
+      <inertia
+        ixx="4.31750564711759E-05"
+        ixy="-2.21295720427027E-08"
+        ixz="-3.27825836857102E-12"
+        iyy="9.99756357365307E-05"
+        iyz="1.10337380549335E-07"
+        izz="0.000118282295533688" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link6.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link6.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint6"
+    type="revolute">
+    <origin
+      xyz="0 0.091 0.0014165"
+      rpy="-1.5708 -1.5708 0" />
+    <parent
+      link="link5" />
+    <child
+      link="link6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="100"
+      velocity="1" />
+  </joint>
+
+  <link
+    name="link7">
+    <inertial>
+      <origin
+        xyz="-0.000277795893713934 -0.046767350270289 -0.00921029791141448"
+        rpy="0 0 0" />
+      <mass
+        value="0.0264822500394006" />
+      <inertia
+        ixx="9.99782519244544E-06"
+        ixy="-1.57547595978589E-07"
+        ixz="-2.71355785017816E-08"
+        iyy="6.17952364356547E-06"
+        iyz="-1.58939504838734E-06"
+        izz="1.42102253390315E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link7.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link7.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint7"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.13503"
+      rpy="1.5708 0 1.5708" />
+    <parent
+      link="link6" />
+    <child
+      link="link7" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.038"
+      upper="0"
+      effort="100"
+      velocity="1" />
+  </joint>
+
+  <link
+    name="link8">
+    <inertial>
+      <origin
+        xyz="0.000277795911672651 0.0467673513153836 -0.00921029799058583"
+        rpy="0 0 0" />
+      <mass
+        value="0.0264822490707451" />
+      <inertia
+        ixx="9.99782474142963E-06"
+        ixy="-1.57547666236405E-07"
+        ixz="2.71355834243046E-08"
+        iyy="6.17952362333486E-06"
+        iyz="1.58939503259658E-06"
+        izz="1.42102248648757E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link8.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link8.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint8"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.13503"
+      rpy="-1.5708 0 1.5708" />
+    <parent
+      link="link6" />
+    <child
+      link="link8" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.038"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <!-- <link
+    name="link8">
+    <inertial>
+      <origin
+        xyz="-0.000277795893713934 -0.046767350270289 -0.00921029791141448"
+        rpy="0 0 0" />
+      <mass
+        value="0.0264822500394006" />
+      <inertia
+        ixx="9.99782519244544E-06"
+        ixy="-1.57547595978589E-07"
+        ixz="-2.71355785017816E-08"
+        iyy="6.17952364356547E-06"
+        iyz="-1.58939504838734E-06"
+        izz="1.42102253390315E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link8.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link8.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint8"
+    type="prismatic">
+    <origin
+      xyz="-0.037167 0 0.13503"
+      rpy="1.5708 0 1.5708" />
+    <parent
+      link="link6" />
+    <child
+      link="link8" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.038"
+      upper="0"
+      effort="100"
+      velocity="1" />
+  </joint> -->
+</robot>
\ No newline at end of file
diff --git a/examples/piper/assets/piper_right.urdf b/examples/piper/assets/piper_right.urdf
new file mode 100644
index 000000000..99fde57d9
--- /dev/null
+++ b/examples/piper/assets/piper_right.urdf
@@ -0,0 +1,568 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="piper_description">
+  <link
+    name="base_link">
+    <!-- <inertial>
+      <origin
+        xyz="-0.00973928490005031 1.8312708928633E-06 0.0410140167677137"
+        rpy="0 0 0" />
+      <mass
+        value="0.162352169522719" />
+      <inertia
+        ixx="0.000226592553127906"
+        ixy="-7.33974356968813E-08"
+        ixz="2.13221970218123E-06"
+        iyy="0.000269447877479622"
+        iyz="8.15167478685076E-09"
+        izz="0.000222318286704" />
+    </inertial> -->
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/base_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/base_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link1">
+    <inertial>
+      <origin
+        xyz="0.00131676031927021 0.000310288842008364 -0.00922874512303438"
+        rpy="0 0 0" />
+      <mass
+        value="0.0978679932242825" />
+      <inertia
+        ixx="7.76684558296781E-05"
+        ixy="1.09084650459916E-07"
+        ixz="-1.97480532432411E-06"
+        iyy="9.24967780161546E-05"
+        iyz="9.91284646834672E-07"
+        izz="8.24589062407806E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link1.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link1.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.123"
+      rpy="0 0 -1.5708" />
+    <parent
+      link="base_link" />
+    <child
+      link="link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.618"
+      upper="2.618"
+      effort="100"
+      velocity="0" />
+  </joint>
+  <link
+    name="link2">
+    <inertial>
+      <origin
+        xyz="0.147615838821413 -0.0174259998251393 0.00175952516190707"
+        rpy="0 0 0" />
+      <mass
+        value="0.289571136953082" />
+      <inertia
+        ixx="0.000150112628108228"
+        ixy="8.58974959950769E-05"
+        ixz="-1.07428153464285E-06"
+        iyy="0.00172585302855383"
+        iyz="-9.93704792239686E-07"
+        izz="0.00177445942914759" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link2.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link2.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -0.10095 -1.5708" />
+    <parent
+      link="link1" />
+    <child
+      link="link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3.14"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin
+        xyz="0.0156727246030052 0.104466514905741 0.000508486764144372"
+        rpy="0 0 0" />
+      <mass
+        value="0.290583247455324" />
+      <inertia
+        ixx="0.000221686352136266"
+        ixy="-7.57426543992343E-06"
+        ixz="-6.3700062772173E-07"
+        iyy="0.000100859162015934"
+        iyz="-8.16202696860781E-07"
+        izz="0.000241839316548946" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link3.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link3.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint3"
+    type="revolute">
+    <origin
+      xyz="0.28503 0 0"
+      rpy="0 0 1.3826" />
+    <parent
+      link="link2" />
+    <child
+      link="link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.967"
+      upper="0"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link4">
+    <inertial>
+      <origin
+        xyz="0.000276464622388145 -0.00102803669324853 -0.00472830700561612"
+        rpy="0 0 0" />
+      <mass
+        value="0.127087348341362" />
+      <inertia
+        ixx="3.82011730423098E-05"
+        ixy="-4.92358351033589E-08"
+        ixz="4.89589432983109E-08"
+        iyy="4.87048555222491E-05"
+        iyz="6.70802942486707E-08"
+        izz="4.10592077565155E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link4.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link4.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint4"
+    type="revolute">
+    <origin
+      xyz="0.021984 0.25075 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="link3" />
+    <child
+      link="link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.832"
+      upper="1.832"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link5">
+    <inertial>
+      <origin
+        xyz="8.82261259100015E-05 0.056682908434204 -0.00196119077436732"
+        rpy="0 0 0" />
+      <mass
+        value="0.144711209371719" />
+      <inertia
+        ixx="4.39644269159173E-05"
+        ixy="-3.59214840853815E-08"
+        ixz="-1.89785003257649E-08"
+        iyy="5.63173857792457E-05"
+        iyz="-2.15407623722543E-07"
+        izz="4.88713595021005E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link5.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link5.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint5"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -0.087266 0" />
+    <parent
+      link="link4" />
+    <child
+      link="link5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.22"
+      upper="1.22"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link6">
+    <inertial>
+      <origin
+        xyz="9.41121070072333E-09 0.000341209775988838 0.0342122921883722"
+        rpy="0 0 0" />
+      <mass
+        value="0.150196458571266" />
+      <inertia
+        ixx="4.31750564711759E-05"
+        ixy="-2.21295720427027E-08"
+        ixz="-3.27825836857102E-12"
+        iyy="9.99756357365307E-05"
+        iyz="1.10337380549335E-07"
+        izz="0.000118282295533688" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link6.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link6.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint6"
+    type="revolute">
+    <origin
+      xyz="0 0.091 0.0014165"
+      rpy="-1.5708 -1.5708 0" />
+    <parent
+      link="link5" />
+    <child
+      link="link6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="100"
+      velocity="1" />
+  </joint>
+
+  <link
+    name="link7">
+    <inertial>
+      <origin
+        xyz="-0.000277795893713934 -0.046767350270289 -0.00921029791141448"
+        rpy="0 0 0" />
+      <mass
+        value="0.0264822500394006" />
+      <inertia
+        ixx="9.99782519244544E-06"
+        ixy="-1.57547595978589E-07"
+        ixz="-2.71355785017816E-08"
+        iyy="6.17952364356547E-06"
+        iyz="-1.58939504838734E-06"
+        izz="1.42102253390315E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link7.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link7.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint7"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.13503"
+      rpy="1.5708 0 1.5708" />
+    <parent
+      link="link6" />
+    <child
+      link="link7" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.038"
+      upper="0"
+      effort="100"
+      velocity="1" />
+  </joint>
+
+  <link
+    name="link8">
+    <inertial>
+      <origin
+        xyz="0.000277795911672651 0.0467673513153836 -0.00921029799058583"
+        rpy="0 0 0" />
+      <mass
+        value="0.0264822490707451" />
+      <inertia
+        ixx="9.99782474142963E-06"
+        ixy="-1.57547666236405E-07"
+        ixz="2.71355834243046E-08"
+        iyy="6.17952362333486E-06"
+        iyz="1.58939503259658E-06"
+        izz="1.42102248648757E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link8.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link8.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint8"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.13503"
+      rpy="-1.5708 0 1.5708" />
+    <parent
+      link="link6" />
+    <child
+      link="link8" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.038"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <!-- <link
+    name="link8">
+    <inertial>
+      <origin
+        xyz="-0.000277795893713934 -0.046767350270289 -0.00921029791141448"
+        rpy="0 0 0" />
+      <mass
+        value="0.0264822500394006" />
+      <inertia
+        ixx="9.99782519244544E-06"
+        ixy="-1.57547595978589E-07"
+        ixz="-2.71355785017816E-08"
+        iyy="6.17952364356547E-06"
+        iyz="-1.58939504838734E-06"
+        izz="1.42102253390315E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link8.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link8.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint8"
+    type="prismatic">
+    <origin
+      xyz="-0.037167 0 0.13503"
+      rpy="1.5708 0 1.5708" />
+    <parent
+      link="link6" />
+    <child
+      link="link8" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.038"
+      upper="0"
+      effort="100"
+      velocity="1" />
+  </joint> -->
+</robot>
\ No newline at end of file
diff --git a/examples/piper/assets/piper_right_pred.urdf b/examples/piper/assets/piper_right_pred.urdf
new file mode 100644
index 000000000..2541f63f1
--- /dev/null
+++ b/examples/piper/assets/piper_right_pred.urdf
@@ -0,0 +1,568 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="piper_description">
+  <link
+    name="base_link">
+    <!-- <inertial>
+      <origin
+        xyz="-0.00973928490005031 1.8312708928633E-06 0.0410140167677137"
+        rpy="0 0 0" />
+      <mass
+        value="0.162352169522719" />
+      <inertia
+        ixx="0.000226592553127906"
+        ixy="-7.33974356968813E-08"
+        ixz="2.13221970218123E-06"
+        iyy="0.000269447877479622"
+        iyz="8.15167478685076E-09"
+        izz="0.000222318286704" />
+    </inertial> -->
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/base_link.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 1 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/base_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link1">
+    <inertial>
+      <origin
+        xyz="0.00131676031927021 0.000310288842008364 -0.00922874512303438"
+        rpy="0 0 0" />
+      <mass
+        value="0.0978679932242825" />
+      <inertia
+        ixx="7.76684558296781E-05"
+        ixy="1.09084650459916E-07"
+        ixz="-1.97480532432411E-06"
+        iyy="9.24967780161546E-05"
+        iyz="9.91284646834672E-07"
+        izz="8.24589062407806E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link1.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 1 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link1.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.123"
+      rpy="0 0 -1.5708" />
+    <parent
+      link="base_link" />
+    <child
+      link="link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.618"
+      upper="2.618"
+      effort="100"
+      velocity="0" />
+  </joint>
+  <link
+    name="link2">
+    <inertial>
+      <origin
+        xyz="0.147615838821413 -0.0174259998251393 0.00175952516190707"
+        rpy="0 0 0" />
+      <mass
+        value="0.289571136953082" />
+      <inertia
+        ixx="0.000150112628108228"
+        ixy="8.58974959950769E-05"
+        ixz="-1.07428153464285E-06"
+        iyy="0.00172585302855383"
+        iyz="-9.93704792239686E-07"
+        izz="0.00177445942914759" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link2.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 1 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link2.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -0.10095 -1.5708" />
+    <parent
+      link="link1" />
+    <child
+      link="link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3.14"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin
+        xyz="0.0156727246030052 0.104466514905741 0.000508486764144372"
+        rpy="0 0 0" />
+      <mass
+        value="0.290583247455324" />
+      <inertia
+        ixx="0.000221686352136266"
+        ixy="-7.57426543992343E-06"
+        ixz="-6.3700062772173E-07"
+        iyy="0.000100859162015934"
+        iyz="-8.16202696860781E-07"
+        izz="0.000241839316548946" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link3.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 1 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link3.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint3"
+    type="revolute">
+    <origin
+      xyz="0.28503 0 0"
+      rpy="0 0 1.3826" />
+    <parent
+      link="link2" />
+    <child
+      link="link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.967"
+      upper="0"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link4">
+    <inertial>
+      <origin
+        xyz="0.000276464622388145 -0.00102803669324853 -0.00472830700561612"
+        rpy="0 0 0" />
+      <mass
+        value="0.127087348341362" />
+      <inertia
+        ixx="3.82011730423098E-05"
+        ixy="-4.92358351033589E-08"
+        ixz="4.89589432983109E-08"
+        iyy="4.87048555222491E-05"
+        iyz="6.70802942486707E-08"
+        izz="4.10592077565155E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link4.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 1 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link4.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint4"
+    type="revolute">
+    <origin
+      xyz="0.021984 0.25075 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="link3" />
+    <child
+      link="link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.832"
+      upper="1.832"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link5">
+    <inertial>
+      <origin
+        xyz="8.82261259100015E-05 0.056682908434204 -0.00196119077436732"
+        rpy="0 0 0" />
+      <mass
+        value="0.144711209371719" />
+      <inertia
+        ixx="4.39644269159173E-05"
+        ixy="-3.59214840853815E-08"
+        ixz="-1.89785003257649E-08"
+        iyy="5.63173857792457E-05"
+        iyz="-2.15407623722543E-07"
+        izz="4.88713595021005E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link5.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 1 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link5.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint5"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -0.087266 0" />
+    <parent
+      link="link4" />
+    <child
+      link="link5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.22"
+      upper="1.22"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link6">
+    <inertial>
+      <origin
+        xyz="9.41121070072333E-09 0.000341209775988838 0.0342122921883722"
+        rpy="0 0 0" />
+      <mass
+        value="0.150196458571266" />
+      <inertia
+        ixx="4.31750564711759E-05"
+        ixy="-2.21295720427027E-08"
+        ixz="-3.27825836857102E-12"
+        iyy="9.99756357365307E-05"
+        iyz="1.10337380549335E-07"
+        izz="0.000118282295533688" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link6.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 1 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link6.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint6"
+    type="revolute">
+    <origin
+      xyz="0 0.091 0.0014165"
+      rpy="-1.5708 -1.5708 0" />
+    <parent
+      link="link5" />
+    <child
+      link="link6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="100"
+      velocity="1" />
+  </joint>
+
+  <link
+    name="link7">
+    <inertial>
+      <origin
+        xyz="-0.000277795893713934 -0.046767350270289 -0.00921029791141448"
+        rpy="0 0 0" />
+      <mass
+        value="0.0264822500394006" />
+      <inertia
+        ixx="9.99782519244544E-06"
+        ixy="-1.57547595978589E-07"
+        ixz="-2.71355785017816E-08"
+        iyy="6.17952364356547E-06"
+        iyz="-1.58939504838734E-06"
+        izz="1.42102253390315E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link7.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 1 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link7.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint7"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.13503"
+      rpy="1.5708 0 1.5708" />
+    <parent
+      link="link6" />
+    <child
+      link="link7" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.038"
+      upper="0"
+      effort="100"
+      velocity="1" />
+  </joint>
+
+  <link
+    name="link8">
+    <inertial>
+      <origin
+        xyz="0.000277795911672651 0.0467673513153836 -0.00921029799058583"
+        rpy="0 0 0" />
+      <mass
+        value="0.0264822490707451" />
+      <inertia
+        ixx="9.99782474142963E-06"
+        ixy="-1.57547666236405E-07"
+        ixz="2.71355834243046E-08"
+        iyy="6.17952362333486E-06"
+        iyz="1.58939503259658E-06"
+        izz="1.42102248648757E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link8.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 1 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link8.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint8"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.13503"
+      rpy="-1.5708 0 1.5708" />
+    <parent
+      link="link6" />
+    <child
+      link="link8" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.038"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <!-- <link
+    name="link8">
+    <inertial>
+      <origin
+        xyz="-0.000277795893713934 -0.046767350270289 -0.00921029791141448"
+        rpy="0 0 0" />
+      <mass
+        value="0.0264822500394006" />
+      <inertia
+        ixx="9.99782519244544E-06"
+        ixy="-1.57547595978589E-07"
+        ixz="-2.71355785017816E-08"
+        iyy="6.17952364356547E-06"
+        iyz="-1.58939504838734E-06"
+        izz="1.42102253390315E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link8.stl" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 1 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="assets/link8.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint8"
+    type="prismatic">
+    <origin
+      xyz="-0.037167 0 0.13503"
+      rpy="1.5708 0 1.5708" />
+    <parent
+      link="link6" />
+    <child
+      link="link8" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.038"
+      upper="0"
+      effort="100"
+      velocity="1" />
+  </joint> -->
+</robot>
\ No newline at end of file
diff --git a/examples/piper/piper_inference.py b/examples/piper/piper_inference.py
new file mode 100644
index 000000000..0a970c97a
--- /dev/null
+++ b/examples/piper/piper_inference.py
@@ -0,0 +1,229 @@
+from dora import Node
+
+node = Node()
+
+import numpy as np
+
+pred = np.array(
+    [
+        [
+            [
+                -0.0737,
+                -0.0447,
+                0.2695,
+                -0.0054,
+                -0.0461,
+                -0.0258,
+                0.1357,
+                0.1943,
+                0.0625,
+                0.1270,
+                -0.0259,
+                -0.0195,
+                0.0981,
+                0.1021,
+            ],
+            [
+                -0.0757,
+                -0.0332,
+                0.2793,
+                -0.0156,
+                -0.0374,
+                -0.0193,
+                0.1924,
+                0.2119,
+                0.0654,
+                0.1377,
+                0.0020,
+                -0.0076,
+                0.0884,
+                0.1143,
+            ],
+            [
+                -0.0771,
+                -0.0282,
+                0.2832,
+                -0.0225,
+                -0.0378,
+                -0.0156,
+                0.1992,
+                0.2324,
+                0.0674,
+                0.1416,
+                0.0088,
+                -0.0056,
+                0.0918,
+                0.1191,
+            ],
+            [
+                -0.0825,
+                -0.0325,
+                0.2832,
+                -0.0210,
+                -0.0420,
+                -0.0204,
+                0.1904,
+                0.2256,
+                0.0610,
+                0.1475,
+                0.0068,
+                -0.0071,
+                0.0879,
+                0.1172,
+            ],
+            [
+                -0.0825,
+                -0.0344,
+                0.2852,
+                -0.0208,
+                -0.0405,
+                -0.0167,
+                0.1777,
+                0.2109,
+                0.0518,
+                0.1621,
+                0.0059,
+                -0.0017,
+                0.0854,
+                0.1182,
+            ],
+            [
+                -0.0840,
+                -0.0332,
+                0.2871,
+                -0.0226,
+                -0.0417,
+                -0.0159,
+                0.1748,
+                0.2080,
+                0.0476,
+                0.1641,
+                0.0000,
+                0.0010,
+                0.0864,
+                0.1196,
+            ],
+            [
+                -0.0879,
+                -0.0234,
+                0.2969,
+                -0.0305,
+                -0.0396,
+                -0.0132,
+                0.1904,
+                0.2275,
+                0.0474,
+                0.1758,
+                0.0137,
+                0.0020,
+                0.0874,
+                0.1245,
+            ],
+            [
+                -0.0884,
+                -0.0225,
+                0.3008,
+                -0.0339,
+                -0.0386,
+                -0.0118,
+                0.1904,
+                0.2275,
+                0.0469,
+                0.1855,
+                0.0186,
+                -0.0017,
+                0.0879,
+                0.1270,
+            ],
+            [
+                -0.0918,
+                -0.0081,
+                0.3066,
+                -0.0449,
+                -0.0325,
+                -0.0074,
+                0.2021,
+                0.2363,
+                0.0454,
+                0.1953,
+                0.0332,
+                0.0015,
+                0.0942,
+                0.1348,
+            ],
+            [
+                -0.0938,
+                -0.0249,
+                0.3027,
+                -0.0366,
+                -0.0396,
+                -0.0125,
+                0.1777,
+                0.2207,
+                0.0376,
+                0.1953,
+                0.0146,
+                -0.0017,
+                0.0884,
+                0.1279,
+            ],
+            [
+                -0.0938,
+                -0.0229,
+                0.3047,
+                -0.0393,
+                -0.0386,
+                -0.0121,
+                0.1680,
+                0.2256,
+                0.0330,
+                0.2002,
+                0.0127,
+                0.0015,
+                0.0913,
+                0.1260,
+            ],
+            [
+                -0.0977,
+                -0.0206,
+                0.3105,
+                -0.0405,
+                -0.0359,
+                -0.0161,
+                0.1680,
+                0.2178,
+                0.0295,
+                0.2129,
+                0.0146,
+                -0.0085,
+                0.0923,
+                0.1309,
+            ],
+            [
+                -0.0938,
+                -0.0311,
+                0.3027,
+                -0.0334,
+                -0.0386,
+                -0.0188,
+                0.1377,
+                0.2139,
+                0.0227,
+                0.2031,
+                0.0039,
+                -0.0020,
+                0.0913,
+                0.1221,
+            ],
+        ]
+    ]
+)
+
+import time
+import pyarrow as pa
+
+data = pred[0]
+for joint in data:
+    node.send_output("jointstate_left", pa.array(joint[:7], type=pa.float32()))
+    node.send_output("jointstate_right", pa.array(joint[7:], type=pa.float32()))
+    time.sleep(0.1)
diff --git a/examples/piper/play_inference.yml b/examples/piper/play_inference.yml
new file mode 100644
index 000000000..48b1cee3f
--- /dev/null
+++ b/examples/piper/play_inference.yml
@@ -0,0 +1,22 @@
+nodes:
+  - id: piper
+    path: piper_inference.py
+    inputs:
+      tick: dora/timer/millis/20
+    outputs:
+      - jointstate_left
+      - jointstate_right
+    env:
+      CAN_BUS: can_left
+
+  - id: rerun
+    build: wget
+    path: dora-rerun
+    inputs:
+      jointstate_piper_left: piper/jointstate_left
+      jointstate_piper_right: piper/jointstate_right
+    env:
+      piper_left_urdf: assets/piper_left.urdf # Make sure to download assets/meshes from https://github.com/agilexrobotics/Piper_ros/tree/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes and put them in the assets folder
+      piper_right_urdf: assets/piper_right.urdf # Make sure to download assets/meshes from https://github.com/agilexrobotics/Piper_ros/tree/4f22c61f96b8fb3ef3f937b99b63edb697caadf0/src/piper_description/meshes and put them in the assets folder
+      piper_left_transform: 0 0.2 0
+      piper_right_transform: 0 -0.2 0

From 6475a3fe68885983c80e2292c00d548238cd8a5e Mon Sep 17 00:00:00 2001
From: haixuanTao <tao.xavier@outlook.com>
Date: Thu, 7 Nov 2024 16:15:18 +0100
Subject: [PATCH 5/7] Make dora-rerun pip installable and python-abi3

---
 node-hub/dora-rerun/Cargo.toml     |  14 ++
 node-hub/dora-rerun/pyproject.toml |   7 +-
 node-hub/dora-rerun/src/lib.rs     | 261 ++++++++++++++++++++++++++++
 node-hub/dora-rerun/src/main.rs    | 266 +----------------------------
 node-hub/dora-rerun/src/urdf.rs    |  46 ++++-
 5 files changed, 328 insertions(+), 266 deletions(-)
 create mode 100644 node-hub/dora-rerun/src/lib.rs

diff --git a/node-hub/dora-rerun/Cargo.toml b/node-hub/dora-rerun/Cargo.toml
index fe4f2391b..8cdf24249 100644
--- a/node-hub/dora-rerun/Cargo.toml
+++ b/node-hub/dora-rerun/Cargo.toml
@@ -9,6 +9,10 @@ repository.workspace = true
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
+[features]
+default = []
+python = ["pyo3"]
+
 [dependencies]
 dora-node-api = { workspace = true, features = ["tracing"] }
 eyre = "0.6.8"
@@ -16,3 +20,13 @@ tokio = { version = "1.24.2", features = ["rt"] }
 rerun = { version = "0.19.0", features = ["web_viewer", "image"] }
 ndarray = "0.15.6"
 k = "0.32"
+pyo3 = { workspace = true, features = [
+    "extension-module",
+    "abi3",
+], optional = true }
+
+
+[lib]
+name = "dora_rerun"
+path = "src/lib.rs"
+crate-type = ["rlib", "cdylib"]
diff --git a/node-hub/dora-rerun/pyproject.toml b/node-hub/dora-rerun/pyproject.toml
index 52e313479..432362263 100644
--- a/node-hub/dora-rerun/pyproject.toml
+++ b/node-hub/dora-rerun/pyproject.toml
@@ -6,5 +6,10 @@ build-backend = "maturin"
 name = "dora-rerun"
 dependencies = [
     'rerun_sdk==0.19.1',
-    "git+https://github.com/rerun-io/rerun-loader-python-example-urdf.git",
+    # "rerun-loader-urdf @ git+https://github.com/rerun-io/rerun-loader-python-example-urdf.git",
 ]
+
+scripts = { "dora-rerun" = "dora_rerun:py_main" }
+
+[tool.maturin]
+features = ["pyo3/extension-module"]
diff --git a/node-hub/dora-rerun/src/lib.rs b/node-hub/dora-rerun/src/lib.rs
new file mode 100644
index 000000000..f1f210cbd
--- /dev/null
+++ b/node-hub/dora-rerun/src/lib.rs
@@ -0,0 +1,261 @@
+//! Demonstrates the most barebone usage of the Rerun SDK.
+
+use std::env::VarError;
+
+use dora_node_api::{
+    arrow::{
+        array::{AsArray, Float32Array, StringArray, StructArray, UInt8Array},
+        datatypes::Float32Type,
+    },
+    DoraNode, Event, Parameter,
+};
+use eyre::{eyre, Context, ContextCompat, Result};
+
+use rerun::{
+    components::ImageBuffer, external::re_types::ArrowBuffer, ImageFormat, SpawnOptions, Text,
+};
+pub mod urdf;
+use urdf::{init_urdf, update_visualization};
+
+pub fn lib_main() -> Result<()> {
+    // rerun `serve()` requires to have a running Tokio runtime in the current context.
+    let rt = tokio::runtime::Builder::new_current_thread()
+        .build()
+        .expect("Failed to create tokio runtime");
+    let _guard = rt.enter();
+
+    // Limit memory usage
+    let mut options = SpawnOptions::default();
+
+    let memory_limit = match std::env::var("RERUN_MEMORY_LIMIT") {
+        Ok(memory_limit) => memory_limit
+            .parse::<String>()
+            .context("Could not parse RERUN_MEMORY_LIMIT value")?,
+        Err(VarError::NotUnicode(_)) => {
+            return Err(eyre!("RERUN_MEMORY_LIMIT env variable is not unicode"));
+        }
+        Err(VarError::NotPresent) => "25%".to_string(),
+    };
+
+    options.memory_limit = memory_limit;
+
+    let rec = rerun::RecordingStreamBuilder::new("dora-rerun")
+        .spawn_opts(&options, None)
+        .context("Could not spawn rerun visualization")?;
+
+    let chains = init_urdf(&rec).context("Could not load urdf")?;
+
+    let (_node, mut events) =
+        DoraNode::init_from_env().context("Could not initialize dora node")?;
+
+    match std::env::var("README") {
+        Ok(readme) => {
+            readme
+                .parse::<String>()
+                .context("Could not parse readme value")?;
+            rec.log("README", &rerun::TextDocument::new(readme))
+                .wrap_err("Could not log text")?;
+        }
+        Err(VarError::NotUnicode(_)) => {
+            return Err(eyre!("readme env variable is not unicode"));
+        }
+        Err(VarError::NotPresent) => (),
+    };
+
+    while let Some(event) = events.recv() {
+        if let Event::Input { id, data, metadata } = event {
+            if id.as_str().contains("image") {
+                let height =
+                    if let Some(Parameter::Integer(height)) = metadata.parameters.get("height") {
+                        height
+                    } else {
+                        &480
+                    };
+                let width =
+                    if let Some(Parameter::Integer(width)) = metadata.parameters.get("width") {
+                        width
+                    } else {
+                        &640
+                    };
+                let encoding = if let Some(Parameter::String(encoding)) =
+                    metadata.parameters.get("encoding")
+                {
+                    encoding
+                } else {
+                    "bgr8"
+                };
+
+                if encoding == "bgr8" {
+                    let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap();
+                    let buffer: &[u8] = buffer.values();
+
+                    // Transpose values from BGR to RGB
+                    let buffer: Vec<u8> =
+                        buffer.chunks(3).flat_map(|x| [x[2], x[1], x[0]]).collect();
+                    let buffer = ArrowBuffer::from(buffer);
+                    let image_buffer = ImageBuffer::try_from(buffer)
+                        .context("Could not convert buffer to image buffer")?;
+                    // let tensordata = ImageBuffer(buffer);
+
+                    let image = rerun::Image::new(
+                        image_buffer,
+                        ImageFormat::rgb8([*width as u32, *height as u32]),
+                    );
+                    rec.log(id.as_str(), &image)
+                        .context("could not log image")?;
+                } else if encoding == "rgb8" {
+                    let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap();
+                    let buffer: &[u8] = buffer.values();
+                    let buffer = ArrowBuffer::from(buffer);
+                    let image_buffer = ImageBuffer::try_from(buffer)
+                        .context("Could not convert buffer to image buffer")?;
+
+                    let image = rerun::Image::new(
+                        image_buffer,
+                        ImageFormat::rgb8([*width as u32, *height as u32]),
+                    );
+                    rec.log(id.as_str(), &image)
+                        .context("could not log image")?;
+                } else if ["jpeg", "png"].contains(&encoding) {
+                    let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap();
+                    let buffer: &[u8] = buffer.values();
+
+                    let image = rerun::EncodedImage::from_file_contents(buffer.to_vec());
+                    rec.log(id.as_str(), &image)
+                        .context("could not log image")?;
+                };
+            } else if id.as_str().contains("text") {
+                let buffer: StringArray = data.to_data().into();
+                buffer.iter().try_for_each(|string| -> Result<()> {
+                    if let Some(str) = string {
+                        rec.log(id.as_str(), &rerun::TextLog::new(str))
+                            .wrap_err("Could not log text")
+                    } else {
+                        Ok(())
+                    }
+                })?;
+            } else if id.as_str().contains("boxes2d") {
+                let bbox_struct: StructArray = data.to_data().into();
+                let format =
+                    if let Some(Parameter::String(format)) = metadata.parameters.get("format") {
+                        format
+                    } else {
+                        "xyxy"
+                    };
+
+                // Cast Bbox
+                let bbox_buffer = bbox_struct
+                    .column_by_name("bbox")
+                    .context("Did not find labels field within bbox struct")?;
+                let bbox = bbox_buffer
+                    .as_list_opt::<i32>()
+                    .context("Could not deserialize bbox as list")?
+                    .values();
+                let bbox = bbox
+                    .as_primitive_opt::<Float32Type>()
+                    .context("Could not get bbox value as list")?
+                    .values();
+
+                // Cast Labels
+                let labels_buffer = bbox_struct
+                    .column_by_name("labels")
+                    .context("Did not find labels field within bbox struct")?;
+                let labels = labels_buffer
+                    .as_list_opt::<i32>()
+                    .context("Could not deserialize labels as list")?
+                    .values();
+                let labels = labels
+                    .as_string_opt::<i32>()
+                    .context("Could not deserialize labels as string")?;
+                let labels: Vec<Text> = labels.iter().map(|x| Text::from(x.unwrap())).collect();
+
+                // Cast confidence
+                let conf_buffer = bbox_struct
+                    .column_by_name("conf")
+                    .context("Did not find conf field within bbox struct")?;
+                let conf = conf_buffer
+                    .as_list_opt::<i32>()
+                    .context("Could not deserialize conf as list")?
+                    .values();
+                let _conf = conf
+                    .as_primitive_opt::<Float32Type>()
+                    .context("Could not deserialize conf as string")?;
+
+                let mut centers = vec![];
+                let mut sizes = vec![];
+
+                if format == "xywh" {
+                    bbox.chunks(4).for_each(|block| {
+                        if let [x, y, w, h] = block {
+                            centers.push((*x, *y));
+                            sizes.push((*w, *h));
+                        }
+                    });
+                } else if format == "xyxy" {
+                    bbox.chunks(4).for_each(|block| {
+                        if let [min_x, min_y, max_x, max_y] = block {
+                            centers.push(((max_x + min_x) / 2., (max_y + min_y) / 2.));
+                            sizes.push(((max_x - min_x), (max_y - min_y)));
+                        }
+                    });
+                }
+                rec.log(
+                    id.as_str(),
+                    &rerun::Boxes2D::from_centers_and_sizes(centers, sizes).with_labels(labels),
+                )
+                .wrap_err("Could not log Boxes2D")?;
+            } else if id.as_str().contains("jointstate") {
+                let buffer: &Float32Array = data
+                    .as_any()
+                    .downcast_ref()
+                    .context("jointstate is not float32")?;
+                let mut positions: Vec<f32> = buffer.values().to_vec();
+
+                // Match file name
+                let mut id = id.as_str().replace("jointstate_", "");
+                id.push_str(".urdf");
+
+                if let Some(chain) = chains.get(&id) {
+                    let dof = chain.dof();
+
+                    // Truncate or pad positions to match the chain's dof
+                    if dof < positions.len() {
+                        positions.truncate(dof);
+                    } else {
+                        for _ in 0..(dof - positions.len()) {
+                            positions.push(0.);
+                        }
+                    }
+
+                    update_visualization(&chain, &rec, &id, &positions)?;
+                } else {
+                    println!("Could not find chain for {}", id);
+                }
+            }
+        }
+    }
+
+    Ok(())
+}
+
+#[cfg(feature = "python")]
+use pyo3::{
+    pyfunction, pymodule,
+    types::{PyModule, PyModuleMethods},
+    wrap_pyfunction, Bound, PyResult, Python,
+};
+
+#[cfg(feature = "python")]
+#[pyfunction]
+fn py_main(_py: Python) -> PyResult<()> {
+    pyo3::prepare_freethreaded_python();
+    lib_main().map_err(|e| pyo3::exceptions::PyException::new_err(e.to_string()))
+}
+
+/// A Python module implemented in Rust.
+#[cfg(feature = "python")]
+#[pymodule]
+fn dora_rerun(_py: Python, m: Bound<'_, PyModule>) -> PyResult<()> {
+    m.add_function(wrap_pyfunction!(py_main, &m)?)?;
+    Ok(())
+}
diff --git a/node-hub/dora-rerun/src/main.rs b/node-hub/dora-rerun/src/main.rs
index d1a1ef8b7..40c80d9c3 100644
--- a/node-hub/dora-rerun/src/main.rs
+++ b/node-hub/dora-rerun/src/main.rs
@@ -1,265 +1,3 @@
-//! Demonstrates the most barebone usage of the Rerun SDK.
-
-use std::{collections::HashMap, env::VarError};
-pub mod urdf;
-
-use dora_node_api::{
-    arrow::{
-        array::{AsArray, Float32Array, StringArray, StructArray, UInt8Array},
-        datatypes::Float32Type,
-    },
-    DoraNode, Event, Parameter,
-};
-use eyre::{eyre, Context, ContextCompat, Result};
-use rerun::{
-    components::{ImageBuffer, RotationAxisAngle},
-    external::re_types::ArrowBuffer,
-    Angle, ImageFormat, Rotation3D, SpawnOptions, Text,
-};
-
-fn main() -> Result<()> {
-    // rerun `serve()` requires to have a running Tokio runtime in the current context.
-    let rt = tokio::runtime::Builder::new_current_thread()
-        .build()
-        .expect("Failed to create tokio runtime");
-    let _guard = rt.enter();
-
-    // Limit memory usage
-    let mut options = SpawnOptions::default();
-
-    let memory_limit = match std::env::var("RERUN_MEMORY_LIMIT") {
-        Ok(memory_limit) => memory_limit
-            .parse::<String>()
-            .context("Could not parse RERUN_MEMORY_LIMIT value")?,
-        Err(VarError::NotUnicode(_)) => {
-            return Err(eyre!("RERUN_MEMORY_LIMIT env variable is not unicode"));
-        }
-        Err(VarError::NotPresent) => "25%".to_string(),
-    };
-
-    options.memory_limit = memory_limit;
-
-    let rec = rerun::RecordingStreamBuilder::new("dora-rerun")
-        .spawn_opts(&options, None)
-        .context("Could not spawn rerun visualization")?;
-
-    // Get all env variable that start with URDF_
-    let urdfs = std::env::vars()
-        .filter(|(key, _)| key.ends_with("_urdf"))
-        .collect::<Vec<_>>();
-    let mut chains = HashMap::new();
-    for (key, urdf_path) in urdfs {
-        let path = key.replace("_urdf", ".urdf");
-        let chain = k::Chain::<f32>::from_urdf_file(&urdf_path).unwrap();
-
-        let transform = key.replace("_urdf", "_transform");
-        rec.log_file_from_path(&urdf_path, None, false).unwrap();
-        // Get transform by replacing URDF_ with TRANSFORM_
-        if let Ok(transform) = std::env::var(transform) {
-            let transform = transform
-                .split(' ')
-                .map(|x| x.parse::<f32>().unwrap())
-                .collect::<Vec<f32>>();
-            rec.log(
-                path.clone(),
-                &rerun::Transform3D::from_translation_rotation(
-                    [transform[0], transform[1], transform[2]],
-                    Rotation3D::AxisAngle(RotationAxisAngle::new(
-                        [0., 0., 0.],
-                        Angle::from_degrees(0.0),
-                    )),
-                ),
-            )
-            .unwrap();
-            chains.insert(path, chain);
-        }
-    }
-    let (_node, mut events) =
-        DoraNode::init_from_env().context("Could not initialize dora node")?;
-
-    match std::env::var("README") {
-        Ok(readme) => {
-            readme
-                .parse::<String>()
-                .context("Could not parse readme value")?;
-            rec.log("README", &rerun::TextDocument::new(readme))
-                .wrap_err("Could not log text")?;
-        }
-        Err(VarError::NotUnicode(_)) => {
-            return Err(eyre!("readme env variable is not unicode"));
-        }
-        Err(VarError::NotPresent) => (),
-    };
-
-    while let Some(event) = events.recv() {
-        if let Event::Input { id, data, metadata } = event {
-            if id.as_str().contains("image") {
-                let height =
-                    if let Some(Parameter::Integer(height)) = metadata.parameters.get("height") {
-                        height
-                    } else {
-                        &480
-                    };
-                let width =
-                    if let Some(Parameter::Integer(width)) = metadata.parameters.get("width") {
-                        width
-                    } else {
-                        &640
-                    };
-                let encoding = if let Some(Parameter::String(encoding)) =
-                    metadata.parameters.get("encoding")
-                {
-                    encoding
-                } else {
-                    "bgr8"
-                };
-
-                if encoding == "bgr8" {
-                    let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap();
-                    let buffer: &[u8] = buffer.values();
-
-                    // Transpose values from BGR to RGB
-                    let buffer: Vec<u8> =
-                        buffer.chunks(3).flat_map(|x| [x[2], x[1], x[0]]).collect();
-                    let buffer = ArrowBuffer::from(buffer);
-                    let image_buffer = ImageBuffer::try_from(buffer)
-                        .context("Could not convert buffer to image buffer")?;
-                    // let tensordata = ImageBuffer(buffer);
-
-                    let image = rerun::Image::new(
-                        image_buffer,
-                        ImageFormat::rgb8([*width as u32, *height as u32]),
-                    );
-                    rec.log(id.as_str(), &image)
-                        .context("could not log image")?;
-                } else if encoding == "rgb8" {
-                    let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap();
-                    let buffer: &[u8] = buffer.values();
-                    let buffer = ArrowBuffer::from(buffer);
-                    let image_buffer = ImageBuffer::try_from(buffer)
-                        .context("Could not convert buffer to image buffer")?;
-
-                    let image = rerun::Image::new(
-                        image_buffer,
-                        ImageFormat::rgb8([*width as u32, *height as u32]),
-                    );
-                    rec.log(id.as_str(), &image)
-                        .context("could not log image")?;
-                } else if ["jpeg", "png"].contains(&encoding) {
-                    let buffer: &UInt8Array = data.as_any().downcast_ref().unwrap();
-                    let buffer: &[u8] = buffer.values();
-
-                    let image = rerun::EncodedImage::from_file_contents(buffer.to_vec());
-                    rec.log(id.as_str(), &image)
-                        .context("could not log image")?;
-                };
-            } else if id.as_str().contains("text") {
-                let buffer: StringArray = data.to_data().into();
-                buffer.iter().try_for_each(|string| -> Result<()> {
-                    if let Some(str) = string {
-                        rec.log(id.as_str(), &rerun::TextLog::new(str))
-                            .wrap_err("Could not log text")
-                    } else {
-                        Ok(())
-                    }
-                })?;
-            } else if id.as_str().contains("boxes2d") {
-                let bbox_struct: StructArray = data.to_data().into();
-                let format =
-                    if let Some(Parameter::String(format)) = metadata.parameters.get("format") {
-                        format
-                    } else {
-                        "xyxy"
-                    };
-
-                // Cast Bbox
-                let bbox_buffer = bbox_struct
-                    .column_by_name("bbox")
-                    .context("Did not find labels field within bbox struct")?;
-                let bbox = bbox_buffer
-                    .as_list_opt::<i32>()
-                    .context("Could not deserialize bbox as list")?
-                    .values();
-                let bbox = bbox
-                    .as_primitive_opt::<Float32Type>()
-                    .context("Could not get bbox value as list")?
-                    .values();
-
-                // Cast Labels
-                let labels_buffer = bbox_struct
-                    .column_by_name("labels")
-                    .context("Did not find labels field within bbox struct")?;
-                let labels = labels_buffer
-                    .as_list_opt::<i32>()
-                    .context("Could not deserialize labels as list")?
-                    .values();
-                let labels = labels
-                    .as_string_opt::<i32>()
-                    .context("Could not deserialize labels as string")?;
-                let labels: Vec<Text> = labels.iter().map(|x| Text::from(x.unwrap())).collect();
-
-                // Cast confidence
-                let conf_buffer = bbox_struct
-                    .column_by_name("conf")
-                    .context("Did not find conf field within bbox struct")?;
-                let conf = conf_buffer
-                    .as_list_opt::<i32>()
-                    .context("Could not deserialize conf as list")?
-                    .values();
-                let _conf = conf
-                    .as_primitive_opt::<Float32Type>()
-                    .context("Could not deserialize conf as string")?;
-
-                let mut centers = vec![];
-                let mut sizes = vec![];
-
-                if format == "xywh" {
-                    bbox.chunks(4).for_each(|block| {
-                        if let [x, y, w, h] = block {
-                            centers.push((*x, *y));
-                            sizes.push((*w, *h));
-                        }
-                    });
-                } else if format == "xyxy" {
-                    bbox.chunks(4).for_each(|block| {
-                        if let [min_x, min_y, max_x, max_y] = block {
-                            centers.push(((max_x + min_x) / 2., (max_y + min_y) / 2.));
-                            sizes.push(((max_x - min_x), (max_y - min_y)));
-                        }
-                    });
-                }
-                rec.log(
-                    id.as_str(),
-                    &rerun::Boxes2D::from_centers_and_sizes(centers, sizes).with_labels(labels),
-                )
-                .wrap_err("Could not log Boxes2D")?;
-            } else if id.as_str().contains("jointstate") {
-                let buffer: &Float32Array = data
-                    .as_any()
-                    .downcast_ref()
-                    .context("data is not float32")?;
-                let mut positions: Vec<f32> = buffer.values().to_vec();
-
-                // Match file name
-                let mut id = id.as_str().replace("jointstate_", "");
-                id.push_str(".urdf");
-
-                let chain = chains.get(&id).unwrap();
-                let dof = chain.dof();
-
-                // Truncate or pad positions to match the chain's dof
-                if dof < positions.len() {
-                    positions.truncate(dof);
-                } else {
-                    for _ in 0..(dof - positions.len()) {
-                        positions.push(0.);
-                    }
-                }
-
-                urdf::update_visualization(&chain, &rec, &id, &positions)?;
-            }
-        }
-    }
-
-    Ok(())
+fn main() -> Result<(), eyre::Error> {
+    dora_rerun::lib_main()
 }
diff --git a/node-hub/dora-rerun/src/urdf.rs b/node-hub/dora-rerun/src/urdf.rs
index 5aa71a6c2..e4bc79883 100644
--- a/node-hub/dora-rerun/src/urdf.rs
+++ b/node-hub/dora-rerun/src/urdf.rs
@@ -1,6 +1,8 @@
+use std::collections::HashMap;
+
 use eyre::{Context, ContextCompat, Result};
 use k::Chain;
-use rerun::{RecordingStream, Vec3D};
+use rerun::{components::RotationAxisAngle, Angle, RecordingStream, Rotation3D, Vec3D};
 pub struct MyIntersperse<T, I> {
     iterator: I,
     sep: T,
@@ -51,6 +53,48 @@ fn get_entity_path(link: &k::Node<f32>, urdf_path: &str) -> String {
         .collect()
 }
 
+pub fn init_urdf(rec: &RecordingStream) -> Result<HashMap<String, Chain<f32>>> {
+    // Get all env variable that end with urdf
+    let urdfs = std::env::vars()
+        .filter(|(key, _)| key.ends_with("_urdf"))
+        .collect::<Vec<_>>();
+    let mut chains = HashMap::new();
+    for (key, urdf_path) in urdfs {
+        let path = key.replace("_urdf", ".urdf");
+        let chain = k::Chain::<f32>::from_urdf_file(&urdf_path).context("Could not load URDF")?;
+
+        let transform = key.replace("_urdf", "_transform");
+        if let Err(err) = rec.log_file_from_path(&urdf_path, None, false) {
+            println!("Could not log file: {}. Errored with {}", urdf_path, err);
+            println!("Make sure to install urdf loader with:");
+            println!(
+                "pip install git+https://github.com/rerun-io/rerun-loader-python-example-urdf.git"
+            )
+        };
+        // Get transform by replacing URDF_ with TRANSFORM_
+        if let Ok(transform) = std::env::var(transform) {
+            let transform = transform
+                .split(' ')
+                .map(|x| x.parse::<f32>().unwrap())
+                .collect::<Vec<f32>>();
+            rec.log(
+                path.clone(),
+                &rerun::Transform3D::from_translation_rotation(
+                    [transform[0], transform[1], transform[2]],
+                    Rotation3D::AxisAngle(RotationAxisAngle::new(
+                        [0., 0., 0.],
+                        Angle::from_degrees(0.0),
+                    )),
+                ),
+            )
+            .unwrap();
+            chains.insert(path, chain);
+        }
+    }
+
+    Ok(chains)
+}
+
 pub fn update_visualization(
     chain: &Chain<f32>,
     rec: &RecordingStream,

From 6cb643fb5b450bfed6b8b9ca3c45a09f54c90503 Mon Sep 17 00:00:00 2001
From: haixuanTao <tao.xavier@outlook.com>
Date: Fri, 8 Nov 2024 06:50:28 +0100
Subject: [PATCH 6/7] Small fix

---
 Cargo.lock                     | 1492 ++++++++++++++++++++++----------
 node-hub/dora-rerun/Cargo.toml |    2 +-
 node-hub/dora-rerun/README.md  |    8 +
 3 files changed, 1021 insertions(+), 481 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index cd665ba41..11bd2fed1 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -2,6 +2,12 @@
 # It is not intended for manual editing.
 version = 3
 
+[[package]]
+name = "RustyXML"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8b5ace29ee3216de37c0546865ad08edef58b0f9e76838ed8959a84a990e58c5"
+
 [[package]]
 name = "ab_glyph"
 version = "0.2.26"
@@ -20,76 +26,95 @@ checksum = "c71b1793ee61086797f5c80b6efa2b8ffa6d5dd703f118545808a7f2e27f7046"
 
 [[package]]
 name = "accesskit"
-version = "0.12.3"
+version = "0.16.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "74a4b14f3d99c1255dcba8f45621ab1a2e7540a0009652d33989005a4d0bfc6b"
+checksum = "99b76d84ee70e30a4a7e39ab9018e2b17a6a09e31084176cc7c0b2dec036ba45"
 dependencies = [
  "enumn",
  "serde",
 ]
 
+[[package]]
+name = "accesskit_atspi_common"
+version = "0.9.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f5393c75d4666f580f4cac0a968bc97c36076bb536a129f28210dac54ee127ed"
+dependencies = [
+ "accesskit",
+ "accesskit_consumer",
+ "atspi-common",
+ "serde",
+ "thiserror",
+ "zvariant 4.2.0",
+]
+
 [[package]]
 name = "accesskit_consumer"
-version = "0.16.1"
+version = "0.24.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8c17cca53c09fbd7288667b22a201274b9becaa27f0b91bf52a526db95de45e6"
+checksum = "7a12dc159d52233c43d9fe5415969433cbdd52c3d6e0df51bda7d447427b9986"
 dependencies = [
  "accesskit",
+ "immutable-chunkmap",
 ]
 
 [[package]]
 name = "accesskit_macos"
-version = "0.10.1"
+version = "0.17.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cd3b6ae1eabbfbced10e840fd3fce8a93ae84f174b3e4ba892ab7bcb42e477a7"
+checksum = "bfc6c1ecd82053d127961ad80a8beaa6004fb851a3a5b96506d7a6bd462403f6"
 dependencies = [
  "accesskit",
  "accesskit_consumer",
- "objc2 0.3.0-beta.3.patch-leaks.3",
+ "objc2",
+ "objc2-app-kit",
+ "objc2-foundation",
  "once_cell",
 ]
 
 [[package]]
 name = "accesskit_unix"
-version = "0.6.2"
+version = "0.12.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "09f46c18d99ba61ad7123dd13eeb0c104436ab6af1df6a1cd8c11054ed394a08"
+checksum = "be7f5cf6165be10a54b2655fa2e0e12b2509f38ed6fc43e11c31fdb7ee6230bb"
 dependencies = [
  "accesskit",
- "accesskit_consumer",
+ "accesskit_atspi_common",
  "async-channel 2.3.1",
- "async-once-cell",
+ "async-executor",
+ "async-task",
  "atspi",
- "futures-lite 1.13.0",
- "once_cell",
+ "futures-lite 2.3.0",
+ "futures-util",
  "serde",
- "zbus",
+ "zbus 4.4.0",
 ]
 
 [[package]]
 name = "accesskit_windows"
-version = "0.15.1"
+version = "0.23.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "afcae27ec0974fc7c3b0b318783be89fd1b2e66dd702179fe600166a38ff4a0b"
+checksum = "974e96c347384d9133427167fb8a58c340cb0496988dacceebdc1ed27071023b"
 dependencies = [
  "accesskit",
  "accesskit_consumer",
- "once_cell",
  "paste",
  "static_assertions",
- "windows 0.48.0",
+ "windows 0.58.0",
+ "windows-core 0.58.0",
 ]
 
 [[package]]
 name = "accesskit_winit"
-version = "0.16.1"
+version = "0.22.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5284218aca17d9e150164428a0ebc7b955f70e3a9a78b4c20894513aabf98a67"
+checksum = "aea3522719f1c44564d03e9469a8e2f3a98b3a8a880bd66d0789c6b9c4a669dd"
 dependencies = [
  "accesskit",
  "accesskit_macos",
  "accesskit_unix",
  "accesskit_windows",
+ "raw-window-handle 0.6.2",
  "winit",
 ]
 
@@ -175,9 +200,9 @@ checksum = "5c6cb57a04249c6480766f7f7cef5467412af1490f8d1e243141daddada3264f"
 
 [[package]]
 name = "android-activity"
-version = "0.5.2"
+version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ee91c0c2905bae44f84bfa4e044536541df26b7703fd0888deeb9060fcc44289"
+checksum = "ef6978589202a00cd7e118380c448a08b6ed394c3a8df3a430d0898e3a42d046"
 dependencies = [
  "android-properties",
  "bitflags 2.6.0",
@@ -189,7 +214,7 @@ dependencies = [
  "log",
  "ndk",
  "ndk-context",
- "ndk-sys",
+ "ndk-sys 0.6.0+11769913",
  "num_enum",
  "thiserror",
 ]
@@ -279,6 +304,15 @@ version = "1.0.91"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c042108f3ed77fd83760a5fd79b53be043192bb3b9dba91d8c574c0ada7850c8"
 
+[[package]]
+name = "approx"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cab112f0a86d568ea0e627cc1d6be74a1e9cd55214684db5561995f6dad897c6"
+dependencies = [
+ "num-traits",
+]
+
 [[package]]
 name = "arboard"
 version = "3.4.0"
@@ -289,7 +323,7 @@ dependencies = [
  "core-graphics",
  "image",
  "log",
- "objc2 0.5.2",
+ "objc2",
  "objc2-app-kit",
  "objc2-foundation",
  "parking_lot",
@@ -558,11 +592,11 @@ checksum = "d92bec98840b8f03a5ff5413de5293bfcd8bf96467cf5452609f939ec6f5de16"
 
 [[package]]
 name = "ash"
-version = "0.37.3+1.3.251"
+version = "0.38.0+1.3.281"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "39e9c3835d686b0a6084ab4234fcd1b07dbf6e4767dce60874b12356a25ecd4a"
+checksum = "0bb44936d800fea8f016d7f2311c6a4f97aebd5dc86f09906139ec848cf3a46f"
 dependencies = [
- "libloading 0.7.4",
+ "libloading 0.8.4",
 ]
 
 [[package]]
@@ -581,9 +615,15 @@ dependencies = [
  "serde",
  "serde_repr",
  "url",
- "zbus",
+ "zbus 3.15.2",
 ]
 
+[[package]]
+name = "assert_matches"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9b34d609dfbaf33d6889b2b7106d3ca345eacad44200913df5ba02bfd31d2ba9"
+
 [[package]]
 name = "async-attributes"
 version = "1.1.2"
@@ -604,6 +644,18 @@ dependencies = [
  "futures-core",
 ]
 
+[[package]]
+name = "async-broadcast"
+version = "0.7.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "20cd0e2e25ea8e5f7e9df04578dc6cf5c83577fd09b1a46aaf5c85e1c33f2a7e"
+dependencies = [
+ "event-listener 5.3.1",
+ "event-listener-strategy",
+ "futures-core",
+ "pin-project-lite",
+]
+
 [[package]]
 name = "async-channel"
 version = "1.9.0"
@@ -749,12 +801,6 @@ dependencies = [
  "futures-lite 2.3.0",
 ]
 
-[[package]]
-name = "async-once-cell"
-version = "0.5.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4288f83726785267c6f2ef073a3d83dc3f9b81464e9f99898240cced85fce35a"
-
 [[package]]
 name = "async-process"
 version = "1.8.1"
@@ -772,6 +818,25 @@ dependencies = [
  "windows-sys 0.48.0",
 ]
 
+[[package]]
+name = "async-process"
+version = "2.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "63255f1dc2381611000436537bbedfe83183faa303a5a0edaf191edef06526bb"
+dependencies = [
+ "async-channel 2.3.1",
+ "async-io 2.3.3",
+ "async-lock 3.4.0",
+ "async-signal",
+ "async-task",
+ "blocking",
+ "cfg-if 1.0.0",
+ "event-listener 5.3.1",
+ "futures-lite 2.3.0",
+ "rustix 0.38.34",
+ "tracing",
+]
+
 [[package]]
 name = "async-recursion"
 version = "1.1.1"
@@ -823,7 +888,7 @@ dependencies = [
  "async-global-executor",
  "async-io 1.13.0",
  "async-lock 2.8.0",
- "async-process",
+ "async-process 1.8.1",
  "crossbeam-utils",
  "futures-channel",
  "futures-core",
@@ -894,11 +959,31 @@ version = "1.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1505bd5d3d116872e7271a6d4e16d81d0c8570876c8de68093a09ac269d8aac0"
 
+[[package]]
+name = "atomig"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8c3eff224f34d90a14c90d2adedfbabcc9f92e4a823c74364fcbae5f07f28389"
+dependencies = [
+ "atomig-macro",
+]
+
+[[package]]
+name = "atomig-macro"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9a10c8c98ca4c65e4bdd6f1506beb768671f8dce3f5df4dd7d14632b6ecc6f43"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+]
+
 [[package]]
 name = "atspi"
-version = "0.19.0"
+version = "0.22.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6059f350ab6f593ea00727b334265c4dfc7fd442ee32d264794bd9bdc68e87ca"
+checksum = "be534b16650e35237bb1ed189ba2aab86ce65e88cc84c66f4935ba38575cecbf"
 dependencies = [
  "atspi-common",
  "atspi-connection",
@@ -907,39 +992,42 @@ dependencies = [
 
 [[package]]
 name = "atspi-common"
-version = "0.3.0"
+version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "92af95f966d2431f962bc632c2e68eda7777330158bf640c4af4249349b2cdf5"
+checksum = "1909ed2dc01d0a17505d89311d192518507e8a056a48148e3598fef5e7bb6ba7"
 dependencies = [
  "enumflags2",
  "serde",
  "static_assertions",
- "zbus",
- "zbus_names",
- "zvariant",
+ "zbus 4.4.0",
+ "zbus-lockstep",
+ "zbus-lockstep-macros",
+ "zbus_names 3.0.0",
+ "zvariant 4.2.0",
 ]
 
 [[package]]
 name = "atspi-connection"
-version = "0.3.0"
+version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a0c65e7d70f86d4c0e3b2d585d9bf3f979f0b19d635a336725a88d279f76b939"
+checksum = "430c5960624a4baaa511c9c0fcc2218e3b58f5dbcc47e6190cafee344b873333"
 dependencies = [
  "atspi-common",
  "atspi-proxies",
- "futures-lite 1.13.0",
- "zbus",
+ "futures-lite 2.3.0",
+ "zbus 4.4.0",
 ]
 
 [[package]]
 name = "atspi-proxies"
-version = "0.3.0"
+version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6495661273703e7a229356dcbe8c8f38223d697aacfaf0e13590a9ac9977bb52"
+checksum = "a5e6c5de3e524cf967569722446bcd458d5032348554d9a17d7d72b041ab7496"
 dependencies = [
  "atspi-common",
  "serde",
- "zbus",
+ "zbus 4.4.0",
+ "zvariant 4.2.0",
 ]
 
 [[package]]
@@ -959,6 +1047,20 @@ version = "1.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0c4b4d0bd25bd0b74681c0ad21497610ce1b7c91b1022cd21c80c6fbdd9476b0"
 
+[[package]]
+name = "av-data"
+version = "0.4.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "124ae24335161b3d2226594640a67903da0866e2591312591fc8ddad64c1b38c"
+dependencies = [
+ "byte-slice-cast",
+ "bytes",
+ "num-derive",
+ "num-rational",
+ "num-traits",
+ "thiserror",
+]
+
 [[package]]
 name = "axum"
 version = "0.6.20"
@@ -1120,11 +1222,11 @@ dependencies = [
 
 [[package]]
 name = "bit-set"
-version = "0.5.3"
+version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0700ddab506f33b20a03b13996eccd309a48e5ff77d0d95926aa0210fb4e95f1"
+checksum = "f0481a0e032742109b1133a095184ee93d88f3dc9e0d28a5d033dc77a073f44f"
 dependencies = [
- "bit-vec",
+ "bit-vec 0.7.0",
 ]
 
 [[package]]
@@ -1133,6 +1235,12 @@ version = "0.6.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "349f9b6a179ed607305526ca489b34ad0a41aed5f7980fa90eb03160b69598fb"
 
+[[package]]
+name = "bit-vec"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d2c54ff287cfc0a34f38a6b832ea1bd8e448a330b3e40a50859e6488bee07f22"
+
 [[package]]
 name = "bitflags"
 version = "1.3.2"
@@ -1176,51 +1284,13 @@ dependencies = [
  "generic-array",
 ]
 
-[[package]]
-name = "block-sys"
-version = "0.1.0-beta.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0fa55741ee90902547802152aaf3f8e5248aab7e21468089560d4c8840561146"
-dependencies = [
- "objc-sys 0.2.0-beta.2",
-]
-
-[[package]]
-name = "block-sys"
-version = "0.2.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ae85a0696e7ea3b835a453750bf002770776609115e6d25c6d2ff28a8200f7e7"
-dependencies = [
- "objc-sys 0.3.5",
-]
-
-[[package]]
-name = "block2"
-version = "0.2.0-alpha.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8dd9e63c1744f755c2f60332b88de39d341e5e86239014ad839bd71c106dec42"
-dependencies = [
- "block-sys 0.1.0-beta.1",
- "objc2-encode 2.0.0-pre.2",
-]
-
-[[package]]
-name = "block2"
-version = "0.3.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "15b55663a85f33501257357e6421bb33e769d5c9ffb5ba0921c975a123e35e68"
-dependencies = [
- "block-sys 0.2.1",
- "objc2 0.4.1",
-]
-
 [[package]]
 name = "block2"
 version = "0.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2c132eebf10f5cad5289222520a4a058514204aed6d791f1cf4fe8088b82d15f"
 dependencies = [
- "objc2 0.5.2",
+ "objc2",
 ]
 
 [[package]]
@@ -1296,6 +1366,12 @@ version = "3.16.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "79296716171880943b8470b5f8d03aa55eb2e645a4874bdbb28adb49162e012c"
 
+[[package]]
+name = "byte-slice-cast"
+version = "1.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c3ac9f8b63eca6fd385229b3675f6cc0dc5c8a5c8a54a59d4f52ffd670d87b0c"
+
 [[package]]
 name = "bytecount"
 version = "0.6.8"
@@ -1349,20 +1425,6 @@ version = "1.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "981520c98f422fcc584dc1a95c334e6953900b9106bc47a9839b81790009eb21"
 
-[[package]]
-name = "calloop"
-version = "0.12.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fba7adb4dd5aa98e5553510223000e7148f621165ec5f9acd7113f6ca4995298"
-dependencies = [
- "bitflags 2.6.0",
- "log",
- "polling 3.7.2",
- "rustix 0.38.34",
- "slab",
- "thiserror",
-]
-
 [[package]]
 name = "calloop"
 version = "0.13.0"
@@ -1377,25 +1439,13 @@ dependencies = [
  "thiserror",
 ]
 
-[[package]]
-name = "calloop-wayland-source"
-version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0f0ea9b9476c7fad82841a8dbb380e2eae480c21910feba80725b46931ed8f02"
-dependencies = [
- "calloop 0.12.4",
- "rustix 0.38.34",
- "wayland-backend",
- "wayland-client",
-]
-
 [[package]]
 name = "calloop-wayland-source"
 version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "95a66a987056935f7efce4ab5668920b5d0dac4a7c99991a67395f13702ddd20"
 dependencies = [
- "calloop 0.13.0",
+ "calloop",
  "rustix 0.38.34",
  "wayland-backend",
  "wayland-client",
@@ -2622,7 +2672,9 @@ version = "0.3.6"
 dependencies = [
  "dora-node-api",
  "eyre",
- "ndarray",
+ "k",
+ "ndarray 0.15.6",
+ "pyo3",
  "rerun",
  "tokio",
 ]
@@ -2727,6 +2779,12 @@ version = "1.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "75b325c5dbd37f80359721ad39aca5a29fb04c89279657cffdda8736d0c0b9d2"
 
+[[package]]
+name = "dpi"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f25c0e292a7ca6d6498557ff1df68f32c99850012b6ea401cf8daf771f22ff53"
+
 [[package]]
 name = "dunce"
 version = "1.0.5"
@@ -2755,33 +2813,39 @@ checksum = "0d6ef0072f8a535281e4876be788938b528e9a1d43900b82c2569af7da799125"
 
 [[package]]
 name = "ecolor"
-version = "0.28.1"
+version = "0.29.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2e6b451ff1143f6de0f33fc7f1b68fecfd2c7de06e104de96c4514de3f5396f8"
+checksum = "775cfde491852059e386c4e1deb4aef381c617dc364184c6f6afee99b87c402b"
 dependencies = [
  "bytemuck",
  "emath",
  "serde",
 ]
 
+[[package]]
+name = "econtext"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "18aade80d5e09429040243ce1143ddc08a92d7a22820ac512610410a4dd5214f"
+
 [[package]]
 name = "eframe"
-version = "0.28.1"
+version = "0.29.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6490ef800b2e41ee129b1f32f9ac15f713233fe3bc18e241a1afe1e4fb6811e0"
+checksum = "8ac2645a9bf4826eb4e91488b1f17b8eaddeef09396706b2f14066461338e24f"
 dependencies = [
  "ahash",
  "bytemuck",
- "directories",
  "document-features",
  "egui",
  "egui-wgpu",
  "egui-winit",
  "egui_glow",
+ "home",
  "image",
  "js-sys",
  "log",
- "objc2 0.5.2",
+ "objc2",
  "objc2-app-kit",
  "objc2-foundation",
  "parking_lot",
@@ -2798,14 +2862,15 @@ dependencies = [
  "web-time",
  "wgpu",
  "winapi 0.3.9",
+ "windows-sys 0.52.0",
  "winit",
 ]
 
 [[package]]
 name = "egui"
-version = "0.28.1"
+version = "0.29.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "20c97e70a2768de630f161bb5392cbd3874fcf72868f14df0e002e82e06cb798"
+checksum = "53eafabcce0cb2325a59a98736efe0bf060585b437763f8c476957fb274bb974"
 dependencies = [
  "accesskit",
  "ahash",
@@ -2821,9 +2886,9 @@ dependencies = [
 
 [[package]]
 name = "egui-wgpu"
-version = "0.28.1"
+version = "0.29.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "47c7a7c707877c3362a321ebb4f32be811c0b91f7aebf345fb162405c0218b4c"
+checksum = "d00fd5d06d8405397e64a928fa0ef3934b3c30273ea7603e3dc4627b1f7a1a82"
 dependencies = [
  "ahash",
  "bytemuck",
@@ -2841,9 +2906,9 @@ dependencies = [
 
 [[package]]
 name = "egui-winit"
-version = "0.28.1"
+version = "0.29.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fac4e066af341bf92559f60dbdf2020b2a03c963415349af5f3f8d79ff7a4926"
+checksum = "0a9c430f4f816340e8e8c1b20eec274186b1be6bc4c7dfc467ed50d57abc36c6"
 dependencies = [
  "accesskit_winit",
  "ahash",
@@ -2861,32 +2926,32 @@ dependencies = [
 
 [[package]]
 name = "egui_commonmark"
-version = "0.17.0"
+version = "0.18.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fe88871b75bd43c52a2b44ce5b53160506e7976e239112c56728496d019cc60d"
+checksum = "6f169228b94d1c8eb9330b7ea1b5f65b1193b6bea95159c87f574ed4aff8c172"
 dependencies = [
  "egui",
  "egui_commonmark_backend",
  "egui_extras",
- "pulldown-cmark 0.11.3",
+ "pulldown-cmark 0.12.2",
 ]
 
 [[package]]
 name = "egui_commonmark_backend"
-version = "0.17.0"
+version = "0.18.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "148edd9546feba319b16d5a5e551cda46095031ec1e6665e5871eef9ee692967"
+checksum = "dcd08f95abeb137e59c9bfdd0880d362bff74a83afe13805fde7a2d014ef773d"
 dependencies = [
  "egui",
  "egui_extras",
- "pulldown-cmark 0.11.3",
+ "pulldown-cmark 0.12.2",
 ]
 
 [[package]]
 name = "egui_extras"
-version = "0.28.1"
+version = "0.29.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5bb783d9fa348f69ed5c340aa25af78b5472043090e8b809040e30960cc2a746"
+checksum = "bf3c1f5cd8dfe2ade470a218696c66cf556fcfd701e7830fa2e9f4428292a2a1"
 dependencies = [
  "ahash",
  "egui",
@@ -2901,15 +2966,15 @@ dependencies = [
 
 [[package]]
 name = "egui_glow"
-version = "0.28.1"
+version = "0.29.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4e2bdc8b38cfa17cc712c4ae079e30c71c00cd4c2763c9e16dc7860a02769103"
+checksum = "0e39bccc683cd43adab530d8f21a13eb91e80de10bcc38c3f1c16601b6f62b26"
 dependencies = [
  "ahash",
  "bytemuck",
  "egui",
  "egui-winit",
- "glow",
+ "glow 0.14.2",
  "log",
  "memoffset 0.9.1",
  "puffin",
@@ -2920,20 +2985,31 @@ dependencies = [
 
 [[package]]
 name = "egui_plot"
-version = "0.28.1"
+version = "0.29.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c7acc4fe778c41b91d57e04c1a2cf5765b3dc977f9f8384d2bb2eb4254855365"
+checksum = "d8dca4871c15d51aadb79534dcf51a8189e5de3426ee7b465eb7db9a0a81ea67"
 dependencies = [
  "ahash",
  "egui",
  "emath",
 ]
 
+[[package]]
+name = "egui_table"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2ef148ce13d97a23376b92d3c5d0dddedd98c28b17053ceb326b31b92ea45d07"
+dependencies = [
+ "egui",
+ "serde",
+ "vec1",
+]
+
 [[package]]
 name = "egui_tiles"
-version = "0.9.1"
+version = "0.10.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9ec2e18c8665b7aaccfb560e383d08bfbce9cb905e055417f6bb0ecd63056561"
+checksum = "e95b957b2db66175ea36f73cb09a1c40e5f2455692347ccfbe79fd3c84907b5b"
 dependencies = [
  "ahash",
  "egui",
@@ -2966,9 +3042,9 @@ checksum = "3dca9240753cf90908d7e4aac30f630662b02aebaa1b58a3cadabdb23385b58b"
 
 [[package]]
 name = "emath"
-version = "0.28.1"
+version = "0.29.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0a6a21708405ea88f63d8309650b4d77431f4bc28fb9d8e6f77d3963b51249e6"
+checksum = "b1fe0049ce51d0fb414d029e668dd72eb30bc2b739bf34296ed97bd33df544f3"
 dependencies = [
  "bytemuck",
  "serde",
@@ -2989,6 +3065,12 @@ dependencies = [
  "cfg-if 1.0.0",
 ]
 
+[[package]]
+name = "endi"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a3d8a32ae18130a3c84dd492d4215c3d913c3b07c6b63c2eb3eb7ff1101ab7bf"
+
 [[package]]
 name = "enum-map"
 version = "2.7.3"
@@ -3101,15 +3183,16 @@ dependencies = [
 
 [[package]]
 name = "epaint"
-version = "0.28.1"
+version = "0.29.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3f0dcc0a0771e7500e94cd1cb797bd13c9f23b9409bdc3c824e2cbc562b7fa01"
+checksum = "a32af8da821bd4f43f2c137e295459ee2e1661d87ca8779dfa0eaf45d870e20f"
 dependencies = [
  "ab_glyph",
  "ahash",
  "bytemuck",
  "ecolor",
  "emath",
+ "epaint_default_fonts",
  "log",
  "nohash-hasher",
  "parking_lot",
@@ -3118,6 +3201,12 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "epaint_default_fonts"
+version = "0.29.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "483440db0b7993cf77a20314f08311dbe95675092405518c0677aa08c151a3ea"
+
 [[package]]
 name = "equivalent"
 version = "1.0.1"
@@ -3739,6 +3828,18 @@ dependencies = [
  "web-sys",
 ]
 
+[[package]]
+name = "glow"
+version = "0.14.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d51fa363f025f5c111e03f13eda21162faeacb6911fe8caa0c0349f9cf0c4483"
+dependencies = [
+ "js-sys",
+ "slotmap",
+ "wasm-bindgen",
+ "web-sys",
+]
+
 [[package]]
 name = "gltf"
 version = "1.4.1"
@@ -3780,9 +3881,9 @@ dependencies = [
 
 [[package]]
 name = "glutin_wgl_sys"
-version = "0.5.0"
+version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6c8098adac955faa2d31079b65dc48841251f69efd3ac25477903fc424362ead"
+checksum = "0a4e1951bbd9434a81aa496fe59ccc2235af3820d27b85f9314e279609211e2c"
 dependencies = [
  "gl_generator",
 ]
@@ -3808,9 +3909,9 @@ dependencies = [
 
 [[package]]
 name = "gpu-allocator"
-version = "0.25.0"
+version = "0.26.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6f56f6318968d03c18e1bcf4857ff88c61157e9da8e47c5f29055d60e1228884"
+checksum = "fdd4240fc91d3433d5e5b0fc5b67672d771850dc19bbee03c1381e19322803d7"
 dependencies = [
  "log",
  "presser",
@@ -4187,7 +4288,7 @@ dependencies = [
  "iana-time-zone-haiku",
  "js-sys",
  "wasm-bindgen",
- "windows-core",
+ "windows-core 0.52.0",
 ]
 
 [[package]]
@@ -4199,17 +4300,6 @@ dependencies = [
  "cc",
 ]
 
-[[package]]
-name = "icrate"
-version = "0.0.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "99d3aaff8a54577104bafdf686ff18565c3b6903ca5782a2026ef06e2c7aa319"
-dependencies = [
- "block2 0.3.0",
- "dispatch",
- "objc2 0.4.1",
-]
-
 [[package]]
 name = "ident_case"
 version = "1.0.1"
@@ -4251,6 +4341,15 @@ dependencies = [
  "zune-jpeg",
 ]
 
+[[package]]
+name = "immutable-chunkmap"
+version = "2.0.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "12f97096f508d54f8f8ab8957862eee2ccd628847b6217af1a335e1c44dee578"
+dependencies = [
+ "arrayvec",
+]
+
 [[package]]
 name = "indent"
 version = "0.1.1"
@@ -4520,9 +4619,9 @@ checksum = "f5d4a7da358eff58addd2877a45865158f0d78c911d43a5784ceb7bbf52833b0"
 
 [[package]]
 name = "js-sys"
-version = "0.3.69"
+version = "0.3.70"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "29c15563dc2726973df627357ce0c9ddddbea194836909d655df6a75d2cf296d"
+checksum = "1868808506b929d7b0cfa8f75951347aa71bb21144b7791bae35d9bccfcfe37a"
 dependencies = [
  "wasm-bindgen",
 ]
@@ -4538,6 +4637,19 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "k"
+version = "0.32.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5dce11312d00e40c13f5c5fac13056a134f77944ab87086460ef386eed68ca08"
+dependencies = [
+ "nalgebra",
+ "simba",
+ "thiserror",
+ "tracing",
+ "urdf-rs",
+]
+
 [[package]]
 name = "keccak"
 version = "0.1.5"
@@ -4959,9 +5071,9 @@ dependencies = [
 
 [[package]]
 name = "metal"
-version = "0.28.0"
+version = "0.29.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5637e166ea14be6063a3f8ba5ccb9a4159df7d8f6d61c02fc3d480b1f90dcfcb"
+checksum = "7ecfd3296f8c56b7c1f6fbac3c71cefa9d78ce009850c45000015f206dc7fa21"
 dependencies = [
  "bitflags 2.6.0",
  "block",
@@ -5109,18 +5221,18 @@ dependencies = [
 
 [[package]]
 name = "naga"
-version = "0.20.0"
+version = "22.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e536ae46fcab0876853bd4a632ede5df4b1c2527a58f6c5a4150fe86be858231"
+checksum = "8bd5a652b6faf21496f2cfd88fc49989c8db0825d1f6746b1a71a6ede24a63ad"
 dependencies = [
  "arrayvec",
  "bit-set",
  "bitflags 2.6.0",
+ "cfg_aliases 0.1.1",
  "codespan-reporting",
  "hexf-parse",
  "indexmap 2.6.0",
  "log",
- "num-traits",
  "rustc-hash",
  "spirv",
  "termcolor",
@@ -5128,6 +5240,33 @@ dependencies = [
  "unicode-xid",
 ]
 
+[[package]]
+name = "nalgebra"
+version = "0.30.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4fb2d0de08694bed883320212c18ee3008576bfe8c306f4c3c4a58b4876998be"
+dependencies = [
+ "approx",
+ "matrixmultiply",
+ "nalgebra-macros",
+ "num-complex",
+ "num-rational",
+ "num-traits",
+ "simba",
+ "typenum",
+]
+
+[[package]]
+name = "nalgebra-macros"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "01fcc0b8149b4632adc89ac3b7b31a12fb6099a0317a4eb2ebff574ef7de7218"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+]
+
 [[package]]
 name = "names"
 version = "0.14.0"
@@ -5147,6 +5286,15 @@ dependencies = [
  "getrandom",
 ]
 
+[[package]]
+name = "nasm-rs"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "12fcfa1bd49e0342ec1d07ed2be83b59963e7acbeb9310e1bb2c07b69dadd959"
+dependencies = [
+ "jobserver",
+]
+
 [[package]]
 name = "natord"
 version = "1.0.9"
@@ -5166,16 +5314,31 @@ dependencies = [
  "rawpointer",
 ]
 
+[[package]]
+name = "ndarray"
+version = "0.16.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "882ed72dce9365842bf196bdeedf5055305f11fc8c03dee7bb0194a6cad34841"
+dependencies = [
+ "matrixmultiply",
+ "num-complex",
+ "num-integer",
+ "num-traits",
+ "portable-atomic",
+ "portable-atomic-util",
+ "rawpointer",
+]
+
 [[package]]
 name = "ndk"
-version = "0.8.0"
+version = "0.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2076a31b7010b17a38c01907c45b945e8f11495ee4dd588309718901b1f7a5b7"
+checksum = "c3f42e7bbe13d351b6bead8286a43aac9534b82bd3cc43e47037f012ebfd62d4"
 dependencies = [
  "bitflags 2.6.0",
  "jni-sys",
  "log",
- "ndk-sys",
+ "ndk-sys 0.6.0+11769913",
  "num_enum",
  "raw-window-handle 0.6.2",
  "thiserror",
@@ -5196,6 +5359,15 @@ dependencies = [
  "jni-sys",
 ]
 
+[[package]]
+name = "ndk-sys"
+version = "0.6.0+11769913"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ee6cda3051665f1fb8d9e08fc35c96d5a244fb1be711a03b71118828afc9a873"
+dependencies = [
+ "jni-sys",
+]
+
 [[package]]
 name = "neli"
 version = "0.6.4"
@@ -5283,6 +5455,7 @@ dependencies = [
  "cfg-if 1.0.0",
  "cfg_aliases 0.2.1",
  "libc",
+ "memoffset 0.9.1",
 ]
 
 [[package]]
@@ -5468,6 +5641,7 @@ dependencies = [
  "num-bigint",
  "num-integer",
  "num-traits",
+ "serde",
 ]
 
 [[package]]
@@ -5505,7 +5679,7 @@ version = "0.7.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "681030a937600a36906c185595136d26abfebb4aa9c65701cefcaf8578bb982b"
 dependencies = [
- "proc-macro-crate 3.2.0",
+ "proc-macro-crate 1.3.1",
  "proc-macro2",
  "quote",
  "syn 2.0.86",
@@ -5563,12 +5737,6 @@ dependencies = [
  "objc_id",
 ]
 
-[[package]]
-name = "objc-sys"
-version = "0.2.0-beta.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "df3b9834c1e95694a05a828b59f55fa2afec6288359cda67146126b3f90a55d7"
-
 [[package]]
 name = "objc-sys"
 version = "0.3.5"
@@ -5577,49 +5745,52 @@ checksum = "cdb91bdd390c7ce1a8607f35f3ca7151b65afc0ff5ff3b34fa350f7d7c7e4310"
 
 [[package]]
 name = "objc2"
-version = "0.3.0-beta.3.patch-leaks.3"
+version = "0.5.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7e01640f9f2cb1220bbe80325e179e532cb3379ebcd1bf2279d703c19fe3a468"
+checksum = "46a785d4eeff09c14c487497c162e92766fbb3e4059a71840cecc03d9a50b804"
 dependencies = [
- "block2 0.2.0-alpha.6",
- "objc-sys 0.2.0-beta.2",
- "objc2-encode 2.0.0-pre.2",
+ "objc-sys",
+ "objc2-encode",
 ]
 
 [[package]]
-name = "objc2"
-version = "0.4.1"
+name = "objc2-app-kit"
+version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "559c5a40fdd30eb5e344fbceacf7595a81e242529fb4e21cf5f43fb4f11ff98d"
+checksum = "e4e89ad9e3d7d297152b17d39ed92cd50ca8063a89a9fa569046d41568891eff"
 dependencies = [
- "objc-sys 0.3.5",
- "objc2-encode 3.0.0",
+ "bitflags 2.6.0",
+ "block2",
+ "libc",
+ "objc2",
+ "objc2-core-data",
+ "objc2-core-image",
+ "objc2-foundation",
+ "objc2-quartz-core",
 ]
 
 [[package]]
-name = "objc2"
-version = "0.5.2"
+name = "objc2-cloud-kit"
+version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "46a785d4eeff09c14c487497c162e92766fbb3e4059a71840cecc03d9a50b804"
+checksum = "74dd3b56391c7a0596a295029734d3c1c5e7e510a4cb30245f8221ccea96b009"
 dependencies = [
- "objc-sys 0.3.5",
- "objc2-encode 4.0.3",
+ "bitflags 2.6.0",
+ "block2",
+ "objc2",
+ "objc2-core-location",
+ "objc2-foundation",
 ]
 
 [[package]]
-name = "objc2-app-kit"
+name = "objc2-contacts"
 version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e4e89ad9e3d7d297152b17d39ed92cd50ca8063a89a9fa569046d41568891eff"
+checksum = "a5ff520e9c33812fd374d8deecef01d4a840e7b41862d849513de77e44aa4889"
 dependencies = [
- "bitflags 2.6.0",
- "block2 0.5.1",
- "libc",
- "objc2 0.5.2",
- "objc2-core-data",
- "objc2-core-image",
+ "block2",
+ "objc2",
  "objc2-foundation",
- "objc2-quartz-core",
 ]
 
 [[package]]
@@ -5629,8 +5800,8 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "617fbf49e071c178c0b24c080767db52958f716d9eabdf0890523aeae54773ef"
 dependencies = [
  "bitflags 2.6.0",
- "block2 0.5.1",
- "objc2 0.5.2",
+ "block2",
+ "objc2",
  "objc2-foundation",
 ]
 
@@ -5640,27 +5811,24 @@ version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "55260963a527c99f1819c4f8e3b47fe04f9650694ef348ffd2227e8196d34c80"
 dependencies = [
- "block2 0.5.1",
- "objc2 0.5.2",
+ "block2",
+ "objc2",
  "objc2-foundation",
  "objc2-metal",
 ]
 
 [[package]]
-name = "objc2-encode"
-version = "2.0.0-pre.2"
+name = "objc2-core-location"
+version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "abfcac41015b00a120608fdaa6938c44cb983fee294351cc4bac7638b4e50512"
+checksum = "000cfee34e683244f284252ee206a27953279d370e309649dc3ee317b37e5781"
 dependencies = [
- "objc-sys 0.2.0-beta.2",
+ "block2",
+ "objc2",
+ "objc2-contacts",
+ "objc2-foundation",
 ]
 
-[[package]]
-name = "objc2-encode"
-version = "3.0.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d079845b37af429bfe5dfa76e6d087d788031045b25cfc6fd898486fd9847666"
-
 [[package]]
 name = "objc2-encode"
 version = "4.0.3"
@@ -5674,9 +5842,22 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0ee638a5da3799329310ad4cfa62fbf045d5f56e3ef5ba4149e7452dcf89d5a8"
 dependencies = [
  "bitflags 2.6.0",
- "block2 0.5.1",
+ "block2",
+ "dispatch",
  "libc",
- "objc2 0.5.2",
+ "objc2",
+]
+
+[[package]]
+name = "objc2-link-presentation"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a1a1ae721c5e35be65f01a03b6d2ac13a54cb4fa70d8a5da293d7b0020261398"
+dependencies = [
+ "block2",
+ "objc2",
+ "objc2-app-kit",
+ "objc2-foundation",
 ]
 
 [[package]]
@@ -5686,8 +5867,8 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "dd0cba1276f6023976a406a14ffa85e1fdd19df6b0f737b063b95f6c8c7aadd6"
 dependencies = [
  "bitflags 2.6.0",
- "block2 0.5.1",
- "objc2 0.5.2",
+ "block2",
+ "objc2",
  "objc2-foundation",
 ]
 
@@ -5698,12 +5879,67 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e42bee7bff906b14b167da2bac5efe6b6a07e6f7c0a21a7308d40c960242dc7a"
 dependencies = [
  "bitflags 2.6.0",
- "block2 0.5.1",
- "objc2 0.5.2",
+ "block2",
+ "objc2",
  "objc2-foundation",
  "objc2-metal",
 ]
 
+[[package]]
+name = "objc2-symbols"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0a684efe3dec1b305badae1a28f6555f6ddd3bb2c2267896782858d5a78404dc"
+dependencies = [
+ "objc2",
+ "objc2-foundation",
+]
+
+[[package]]
+name = "objc2-ui-kit"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b8bb46798b20cd6b91cbd113524c490f1686f4c4e8f49502431415f3512e2b6f"
+dependencies = [
+ "bitflags 2.6.0",
+ "block2",
+ "objc2",
+ "objc2-cloud-kit",
+ "objc2-core-data",
+ "objc2-core-image",
+ "objc2-core-location",
+ "objc2-foundation",
+ "objc2-link-presentation",
+ "objc2-quartz-core",
+ "objc2-symbols",
+ "objc2-uniform-type-identifiers",
+ "objc2-user-notifications",
+]
+
+[[package]]
+name = "objc2-uniform-type-identifiers"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "44fa5f9748dbfe1ca6c0b79ad20725a11eca7c2218bceb4b005cb1be26273bfe"
+dependencies = [
+ "block2",
+ "objc2",
+ "objc2-foundation",
+]
+
+[[package]]
+name = "objc2-user-notifications"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "76cfcbf642358e8689af64cee815d139339f3ed8ad05103ed5eaf73db8d84cb3"
+dependencies = [
+ "bitflags 2.6.0",
+ "block2",
+ "objc2",
+ "objc2-core-location",
+ "objc2-foundation",
+]
+
 [[package]]
 name = "objc_id"
 version = "0.1.1"
@@ -6445,6 +6681,15 @@ version = "1.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7170ef9988bc169ba16dd36a7fa041e5c4cbeb6a35b76d4c03daded371eae7c0"
 
+[[package]]
+name = "portable-atomic-util"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "90a7d5beecc52a491b54d6dd05c7a45ba1801666a5baad9fdbfc6fef8d2d206c"
+dependencies = [
+ "portable-atomic",
+]
+
 [[package]]
 name = "powerfmt"
 version = "0.2.0"
@@ -6621,9 +6866,9 @@ dependencies = [
 
 [[package]]
 name = "pulldown-cmark"
-version = "0.11.3"
+version = "0.12.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "679341d22c78c6c649893cbd6c3278dcbe9fc4faa62fea3a9296ae2b50c14625"
+checksum = "f86ba2052aebccc42cbbb3ed234b8b13ce76f75c3551a303cb2bcffcff12bb14"
 dependencies = [
  "bitflags 2.6.0",
  "memchr",
@@ -6729,6 +6974,16 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "quick-xml"
+version = "0.30.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "eff6510e86862b57b210fd8cbe8ed3f0d7d600b9c2863cd4549a2e033c66e956"
+dependencies = [
+ "memchr",
+ "serde",
+]
+
 [[package]]
 name = "quick-xml"
 version = "0.31.0"
@@ -6745,6 +7000,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f7649a7b4df05aed9ea7ec6f628c67c9953a43869b8bc50929569b2999d443fe"
 dependencies = [
  "memchr",
+ "serde",
 ]
 
 [[package]]
@@ -6911,6 +7167,15 @@ dependencies = [
  "getrandom",
 ]
 
+[[package]]
+name = "raw-cpuid"
+version = "11.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1ab240315c661615f2ee9f0f2cd32d5a7343a84d5ebcccb99d46e6637565e7b0"
+dependencies = [
+ "bitflags 2.6.0",
+]
+
 [[package]]
 name = "raw-window-handle"
 version = "0.5.2"
@@ -6964,9 +7229,9 @@ dependencies = [
 
 [[package]]
 name = "re_analytics"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cb73df988e201d1910ada87369d8222f7242f76d75d869ffdeabbfdbce354925"
+checksum = "f1dd0159bc848d36bc43693606bf31ebf15b24816cf95c4e96be5f548616bfca"
 dependencies = [
  "crossbeam",
  "directories",
@@ -7009,9 +7274,9 @@ dependencies = [
 
 [[package]]
 name = "re_blueprint_tree"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "952c4a15a5c6a397a7d639045c253426a4cd371e10c387fadcb37fe432395f3c"
+checksum = "4a2a59168e7d8825e6d7295b431bc9958a6dfd11ef50a4f0db2435e0abbcc79a"
 dependencies = [
  "egui",
  "itertools 0.13.0",
@@ -7030,18 +7295,18 @@ dependencies = [
 
 [[package]]
 name = "re_build_info"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bb89ca2a069a90b152610c5d4771b7a831ed9d15b054548a08dfe7b41710d53c"
+checksum = "dd39f5cc762cb2189de8340d998b67bd96c42b50cc13d09ffed4a6c91946d64f"
 dependencies = [
  "serde",
 ]
 
 [[package]]
 name = "re_build_tools"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1b66fc95fed87eba938856c49d029b2525d1d90a1fd8f45c419fd75f57e09afc"
+checksum = "bbaeb7bd5db56a4eb9b323eabf9acb3f0552b9f999ce8224d9b5b08547f417e3"
 dependencies = [
  "anyhow",
  "cargo_metadata 0.18.1",
@@ -7054,18 +7319,18 @@ dependencies = [
 
 [[package]]
 name = "re_case"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "752ce7308c890cd44d7c4072ef5fb9ec1131a78535ff2cc8058cf93120bcfee2"
+checksum = "25c05e42afb6ad68408ab44bb20ae9207dab8162fd6f6d0aacb46064d5ad36aa"
 dependencies = [
  "convert_case",
 ]
 
 [[package]]
 name = "re_chunk"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e48a9e622debb4ebe8de81714b47d48c89eba7c38c57213b9d15fe0080ac1c67"
+checksum = "835c0008466c91d037d9bed4cc22ac282217bdb2e3e8cfcee2f6eef790550304"
 dependencies = [
  "ahash",
  "anyhow",
@@ -7091,11 +7356,12 @@ dependencies = [
 
 [[package]]
 name = "re_chunk_store"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "428c6c5ef2bdc0c8d9afee239d8d1ba51dc60559e60a302a361d7fe62727009a"
+checksum = "9f38aad1c54fb8c93bf0dc982f891552efdbf704f29080cfcd477fe5d25ea9d0"
 dependencies = [
  "ahash",
+ "anyhow",
  "document-features",
  "indent",
  "itertools 0.13.0",
@@ -7106,6 +7372,7 @@ dependencies = [
  "re_chunk",
  "re_format",
  "re_log",
+ "re_log_encoding",
  "re_log_types",
  "re_tracing",
  "re_types_core",
@@ -7113,11 +7380,28 @@ dependencies = [
  "web-time",
 ]
 
+[[package]]
+name = "re_chunk_store_ui"
+version = "0.19.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f336853da55b39e0d1160cd94163a612e49553cebba47f853a75ae86d7a828b3"
+dependencies = [
+ "egui",
+ "egui_extras",
+ "itertools 0.13.0",
+ "re_chunk_store",
+ "re_format",
+ "re_log_types",
+ "re_types",
+ "re_ui",
+ "re_viewer_context",
+]
+
 [[package]]
 name = "re_component_ui"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "17a90e34d6e9acfc92526fad011403b339b848ada732ce912a7851f4c37443d5"
+checksum = "2212a4e18038d2f1f85f051e38c1b39f34b01b5c56b6c4ce0a63fc60dd68c587"
 dependencies = [
  "egui",
  "egui_extras",
@@ -7134,9 +7418,9 @@ dependencies = [
 
 [[package]]
 name = "re_context_menu"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fe3360dc91b69b9b51db929574f1e22cccbb664da6ecfd757994fa069e1388d4"
+checksum = "a72388ae914780ed15ae1b964d49627265d785c59bd8e43dc2766dfd1ec974b2"
 dependencies = [
  "egui",
  "egui_tiles",
@@ -7157,11 +7441,12 @@ dependencies = [
 
 [[package]]
 name = "re_crash_handler"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0a27eaac446e4cb6e151560d3215dceee779a1fd0e7c3cde81b4a6708c26d29d"
+checksum = "317af2231c34496ff40d9bb40875f1856381c7f4ffcdb6e60e4f9a32f6ff9298"
 dependencies = [
  "backtrace",
+ "econtext",
  "itertools 0.13.0",
  "libc",
  "parking_lot",
@@ -7171,16 +7456,18 @@ dependencies = [
 
 [[package]]
 name = "re_data_loader"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0c9058deb42c26214e88812664bffa6f4ea786ed558f3d7cf5c5374de27acc95"
+checksum = "ed855b356ce9b8d57ee85b5bef0b3f77681d80d624e4cbb91bba0254c074766c"
 dependencies = [
  "ahash",
  "anyhow",
  "image",
+ "notify 6.1.1",
  "once_cell",
  "parking_lot",
  "rayon",
+ "re_arrow2",
  "re_build_info",
  "re_build_tools",
  "re_chunk",
@@ -7196,9 +7483,9 @@ dependencies = [
 
 [[package]]
 name = "re_data_source"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2f3d714d35a7cbd160a57708c212b8b0e5cca986aa9e9a420380cf68a128cf2c"
+checksum = "7e5d43d9884884ab584e7926a5e260bcd389a7e9cf91d5de5bbfef447e0a4930"
 dependencies = [
  "anyhow",
  "itertools 0.13.0",
@@ -7215,9 +7502,9 @@ dependencies = [
 
 [[package]]
 name = "re_data_ui"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a1a9d87c7f9a3c3386fb165ae62ab438e1c4d17a75a9cbbe154791a562571d13"
+checksum = "e09332ccde501b354a095d38316e13b614f2724faf3238bc2c4d991126e0d965"
 dependencies = [
  "ahash",
  "anyhow",
@@ -7237,18 +7524,37 @@ dependencies = [
  "re_smart_channel",
  "re_tracing",
  "re_types",
- "re_types_blueprint",
  "re_types_core",
  "re_ui",
+ "re_video",
  "re_viewer_context",
  "unindent",
 ]
 
+[[package]]
+name = "re_dataframe"
+version = "0.19.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6bbdd427394ab73e870beb592bd24d14d43ef5fc99f1f75e282ab414d88250b6"
+dependencies = [
+ "anyhow",
+ "itertools 0.13.0",
+ "nohash-hasher",
+ "re_arrow2",
+ "re_chunk",
+ "re_chunk_store",
+ "re_log",
+ "re_log_types",
+ "re_query",
+ "re_tracing",
+ "re_types_core",
+]
+
 [[package]]
 name = "re_entity_db"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "19b2485d7d304ab4a569e6cffa1ab9e9574fe412bb2dd81dad15a5a98f914924"
+checksum = "9b34166585a6d17a61662fbc8433816f9a16632208311f9db0303f0a53133f1a"
 dependencies = [
  "ahash",
  "document-features",
@@ -7259,6 +7565,7 @@ dependencies = [
  "re_build_info",
  "re_chunk",
  "re_chunk_store",
+ "re_dataframe",
  "re_format",
  "re_int_histogram",
  "re_log",
@@ -7275,24 +7582,24 @@ dependencies = [
 
 [[package]]
 name = "re_error"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "33aefcf4ba9f02854105067dba72b30ead0b94beadd26d242d188d2cad855890"
+checksum = "fb97bdbd6c379c82cb8f77f01bf4543bee5699cefe1ea78932338530f7669bd0"
 
 [[package]]
 name = "re_format"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "84f4d2734843d2e4403c0378ac7ee1721511a5ddcbaf48d8bfe3208be38b2750"
+checksum = "9f0676202e29d77150df3f1e7e010b5a0d9af6f0f8d430903288832748b7df57"
 dependencies = [
  "num-traits",
 ]
 
 [[package]]
 name = "re_format_arrow"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e093b8c9ca524367f65f63e7bef27510eea05a2e0dca75ead7cfcf778f55f0e9"
+checksum = "ce2a885e055eb557923f56e52a1249c026a6d06fa4399dbc356308fed4e98058"
 dependencies = [
  "comfy-table",
  "re_arrow2",
@@ -7302,9 +7609,9 @@ dependencies = [
 
 [[package]]
 name = "re_int_histogram"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "952d88f59e10f3b5f20c1f672a416a2f38d193a356d37e654ea8514fb7d069f3"
+checksum = "bfd863353fcb744faf308e85a70a2e88c539bbaff4f2d32918ec495b5667bba0"
 dependencies = [
  "smallvec",
  "static_assertions",
@@ -7312,9 +7619,9 @@ dependencies = [
 
 [[package]]
 name = "re_log"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a44cc0f4eb4a82fa7b2d16605c103256594e07262e1117b56472886f7e309fa9"
+checksum = "249e38adcb1a2c69e7a09dbdcced3370c36583471d81773cdedd74df038493b4"
 dependencies = [
  "env_logger 0.10.2",
  "js-sys",
@@ -7327,9 +7634,9 @@ dependencies = [
 
 [[package]]
 name = "re_log_encoding"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9ff50fa788bfe385f63b8e8dbdb4a5f97f312dcd0a4b752dfdd8f11e970f7bd2"
+checksum = "b12929caca153106cc41904cf3a74583b070f628a05ec888f59ce25c74609513"
 dependencies = [
  "ehttp",
  "js-sys",
@@ -7351,9 +7658,9 @@ dependencies = [
 
 [[package]]
 name = "re_log_types"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c953bc26e15d4bda28585a434df4bcfeaa0fc1f1174bd99a78c6347b529f8860"
+checksum = "99280e77603a8a7b04e2f6149a6773d6ef50079637d763d131839ad78ce16932"
 dependencies = [
  "ahash",
  "anyhow",
@@ -7400,9 +7707,9 @@ dependencies = [
 
 [[package]]
 name = "re_memory"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d456b886bc5aea51abc720a0ead28bf2593c7dfc87c12f6d088030e30c28018"
+checksum = "bc0ea7c80b0dc8f42598086d926dd6b749c14c4e53ee975e4915e4022caf2cca"
 dependencies = [
  "ahash",
  "backtrace",
@@ -7421,11 +7728,26 @@ dependencies = [
  "web-time",
 ]
 
+[[package]]
+name = "re_mp4"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d1e30657b1ae7f0dd3428a59dc8140732b74a22cc07763606c9ec4054138731"
+dependencies = [
+ "byteorder",
+ "bytes",
+ "log",
+ "num-rational",
+ "serde",
+ "serde_json",
+ "thiserror",
+]
+
 [[package]]
 name = "re_query"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "04bdaca11104426f316fdf94a59bc6333f2f0f062bc61d8dfbcf7f5f7929d99d"
+checksum = "88d428f95fc875a717186fcf84d3e59f99c4ff76dce7100a89bc440b9ffc7fa9"
 dependencies = [
  "ahash",
  "anyhow",
@@ -7448,11 +7770,34 @@ dependencies = [
  "thiserror",
 ]
 
+[[package]]
+name = "re_rav1d"
+version = "0.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e5eb64c43c68024d96d99d52ef0525030d17bdcc6a6b4ddba048ec8f713c91fc"
+dependencies = [
+ "assert_matches",
+ "atomig",
+ "av-data",
+ "bitflags 2.6.0",
+ "cc",
+ "cfg-if 1.0.0",
+ "libc",
+ "nasm-rs",
+ "parking_lot",
+ "paste",
+ "raw-cpuid",
+ "static_assertions",
+ "strum",
+ "to_method",
+ "zerocopy",
+]
+
 [[package]]
 name = "re_renderer"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8e6fadede6d7f670c17e105878390a0d329d4f23f2b37322d8f1b2d17ed1fa40"
+checksum = "3ae006108cae3c3adf0064594f4cca0b6da10751a6522c1c0aca4b0894eb2d5d"
 dependencies = [
  "ahash",
  "anyhow",
@@ -7470,6 +7815,7 @@ dependencies = [
  "gltf",
  "half",
  "itertools 0.13.0",
+ "js-sys",
  "never",
  "notify 6.1.1",
  "ordered-float 4.2.0",
@@ -7482,6 +7828,7 @@ dependencies = [
  "re_log",
  "re_math",
  "re_tracing",
+ "re_video",
  "serde",
  "slotmap",
  "smallvec",
@@ -7491,19 +7838,22 @@ dependencies = [
  "tobj",
  "type-map",
  "walkdir",
+ "wasm-bindgen",
  "wasm-bindgen-futures",
+ "web-sys",
+ "web-time",
  "wgpu",
  "wgpu-core",
+ "wgpu-types",
 ]
 
 [[package]]
 name = "re_sdk"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4120478d467a8cc9cbcb97746aae9042f3a8ffa2abcd3e17ce7f81f64e390209"
+checksum = "da99da0c9129033de969e91f3ce1d8d6b98ef53321e3760a7fc66aab00cc6a4b"
 dependencies = [
  "ahash",
- "anyhow",
  "crossbeam",
  "document-features",
  "itertools 0.13.0",
@@ -7530,9 +7880,9 @@ dependencies = [
 
 [[package]]
 name = "re_sdk_comms"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3f1463c37abe42f636738a6f6d7206cefb89d410058fb4ce974f397c8ef77600"
+checksum = "daced7adbfd36d957d53adbd91d365715cdb361f071d7f87e09f7df8945e926c"
 dependencies = [
  "ahash",
  "crossbeam",
@@ -7548,9 +7898,9 @@ dependencies = [
 
 [[package]]
 name = "re_selection_panel"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "369c2d8a64f3c45b9b294936e41f07662b8e58b6fc0e1bee136a2cb8c902d2ff"
+checksum = "ccb90395428b8ffc4360cec7fc50f3c9b2d3b31d0a6178ca5bc40fd9557b5923"
 dependencies = [
  "egui",
  "egui_tiles",
@@ -7580,9 +7930,9 @@ dependencies = [
 
 [[package]]
 name = "re_smart_channel"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6a20571dc97dc22a89ffb34ed46f16dc917eb428e5676210161d9a8d04f92547"
+checksum = "9f81a0042da6ca0acd4da2c1cbb24c3a91ed426844bacb661a86db1fa9f507d8"
 dependencies = [
  "crossbeam",
  "parking_lot",
@@ -7593,9 +7943,9 @@ dependencies = [
 
 [[package]]
 name = "re_space_view"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "74e924ca2112559738dd89f87dfdc5096467357581bf40547715bec13e2d8feb"
+checksum = "26660a39091d737c83cb0a78123c4b8dee73e73e033dc17b5c87fd1d31436e26"
 dependencies = [
  "bytemuck",
  "egui",
@@ -7615,9 +7965,9 @@ dependencies = [
 
 [[package]]
 name = "re_space_view_bar_chart"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2bef27fe36bb26103d880b03fd899c99555f5ff4b87260869a895abdf836a2b9"
+checksum = "dc2f0aa9d80e76e93004590d23750cb8e0080fb51eca597bfeee4e6a35127dbd"
 dependencies = [
  "egui",
  "egui_plot",
@@ -7635,32 +7985,34 @@ dependencies = [
 
 [[package]]
 name = "re_space_view_dataframe"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bf2e067b1b6d9b3cb37190a07ea70f1459bc4b60bbda9a3f0ae9d70d4f55d0ea"
+checksum = "de830f945e068304d2ca240873ad9031c2f7348818df3e430065fa8720f0c8b8"
 dependencies = [
+ "anyhow",
  "egui",
- "egui_extras",
+ "egui_table",
+ "itertools 0.13.0",
  "re_chunk_store",
- "re_data_ui",
- "re_entity_db",
+ "re_dataframe",
+ "re_format",
  "re_log",
  "re_log_types",
  "re_renderer",
- "re_space_view",
  "re_tracing",
  "re_types",
  "re_types_core",
  "re_ui",
  "re_viewer_context",
  "re_viewport_blueprint",
+ "thiserror",
 ]
 
 [[package]]
 name = "re_space_view_spatial"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "317a97cfaf7da38312f228a4025e66ab980e5157d759570466104b9986a6adc9"
+checksum = "ceb9bc09708e6368be456d9c17852d8c201e4cdc8c5c8106acf1e79f73764bca"
 dependencies = [
  "ahash",
  "anyhow",
@@ -7669,6 +8021,7 @@ dependencies = [
  "egui",
  "glam",
  "hexasphere",
+ "image",
  "itertools 0.13.0",
  "nohash-hasher",
  "once_cell",
@@ -7696,18 +8049,19 @@ dependencies = [
 
 [[package]]
 name = "re_space_view_tensor"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c63f900c1e3c20a73c19829b35331f1faeda9b850ba98ae45ed8b11e6de6e058"
+checksum = "d224f4c2768142e59a21947f8d63e4ce0c0a722b82a983d9a66de74b671a304d"
 dependencies = [
  "anyhow",
  "bytemuck",
  "egui",
  "half",
- "ndarray",
+ "ndarray 0.16.1",
  "re_chunk_store",
  "re_data_ui",
  "re_log_types",
+ "re_query",
  "re_renderer",
  "re_space_view",
  "re_tracing",
@@ -7721,9 +8075,9 @@ dependencies = [
 
 [[package]]
 name = "re_space_view_text_document"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1f2ccd8d3e4db454a18f583211f5330b271d3ce0e2df48f7c7574fa3311fa902"
+checksum = "9fe09dff5e20965966b92c5b207aafecae6610737b9cc5053705d509cc5e5201"
 dependencies = [
  "egui",
  "egui_commonmark",
@@ -7738,9 +8092,9 @@ dependencies = [
 
 [[package]]
 name = "re_space_view_text_log"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "290a0d3ce68f7de2c2d35b098ef4b4e596a9bf0d2597529ac5087fe6fcd84b46"
+checksum = "4a08e858c9d704325f3a64f998106578eaf77a8bdd8107bbf38b949a1872ca76"
 dependencies = [
  "egui",
  "egui_extras",
@@ -7760,9 +8114,9 @@ dependencies = [
 
 [[package]]
 name = "re_space_view_time_series"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "42e6f6b8c948c6b165f80ee12678a2eddd1419f685b6090d9299c5a487c5dc5b"
+checksum = "c8fc6ded1d0e9ad5c7351f359bca84b0ee35f2b5435e9ca44c4f6a295f3792f4"
 dependencies = [
  "egui",
  "egui_plot",
@@ -7784,9 +8138,9 @@ dependencies = [
 
 [[package]]
 name = "re_string_interner"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "57858c98a25ce888815957cfd725115b51c848512334cbf432547289a3259c42"
+checksum = "aae7352fe6b1d0dc69a72880a78b0b6c3d165aeff14a7d91102c7b992e23911c"
 dependencies = [
  "ahash",
  "nohash-hasher",
@@ -7798,9 +8152,9 @@ dependencies = [
 
 [[package]]
 name = "re_time_panel"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9c37d342c332b56bb796f27cef9df9481922db4d6bc6b7ab72fb8b70923562d0"
+checksum = "c6f8dbbdc031cc7f48a2c363dd916f093c213b4b845582bce7b1562dd6ec5850"
 dependencies = [
  "egui",
  "itertools 0.13.0",
@@ -7822,9 +8176,9 @@ dependencies = [
 
 [[package]]
 name = "re_tracing"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9414e648bf8b9d64db949c3cf87d1ef742cc96687d2ef982c6b6c68f386a1401"
+checksum = "515173071739470a870b960674da3b01190e90c5fd11363552934163320c57c7"
 dependencies = [
  "puffin",
  "puffin_http",
@@ -7834,9 +8188,9 @@ dependencies = [
 
 [[package]]
 name = "re_tuid"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "38e45f11127f1052a784a71227e4064d695ba0275f9a9d5fe5cb595bb69e645e"
+checksum = "533a55427c77321336c7c7fc58e00d0e975e6a8769f3cd586e4f630ac00cdacd"
 dependencies = [
  "document-features",
  "getrandom",
@@ -7847,9 +8201,9 @@ dependencies = [
 
 [[package]]
 name = "re_types"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "12a5181eb21eb0a2efb6129b1f3b10c485dfff0b3a795077630edf609d65dc0b"
+checksum = "f9808ff5fe6e2d585e51fd772bc7bf2320bfe3a38090fc3d088c1b3297c4fe8c"
 dependencies = [
  "anyhow",
  "array-init",
@@ -7865,7 +8219,7 @@ dependencies = [
  "itertools 0.13.0",
  "linked-hash-map",
  "mime_guess2",
- "ndarray",
+ "ndarray 0.16.1",
  "nohash-hasher",
  "once_cell",
  "ply-rs",
@@ -7878,6 +8232,7 @@ dependencies = [
  "re_tracing",
  "re_types_builder",
  "re_types_core",
+ "re_video",
  "smallvec",
  "thiserror",
  "uuid",
@@ -7885,9 +8240,9 @@ dependencies = [
 
 [[package]]
 name = "re_types_blueprint"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6655a40463bcd8b0b7d41f990891959a58d138a0e9a5f6928e975a6b3a03901a"
+checksum = "c74036a415d781c119640fb38cd56a3e3c03f6a986769a8d81a05fb1f147b0ee"
 dependencies = [
  "once_cell",
  "re_arrow2",
@@ -7898,9 +8253,9 @@ dependencies = [
 
 [[package]]
 name = "re_types_builder"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7222c14159d0792b728489db0eb18c09f643faee8f120e14dbee045455edd413"
+checksum = "1acbe0cabc9fb933d273604660df9a264f81f2c90938077bfb089765eaeaf1e1"
 dependencies = [
  "anyhow",
  "camino",
@@ -7927,9 +8282,9 @@ dependencies = [
 
 [[package]]
 name = "re_types_core"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3aa5181a363c04196046dca82575550d5d04f2ad52d8ebdc6d36adc79a94851d"
+checksum = "3d7508a5209bddc61f48f2af34e372521a568deb53d1b71faf4d17a2e6c24196"
 dependencies = [
  "anyhow",
  "backtrace",
@@ -7951,9 +8306,9 @@ dependencies = [
 
 [[package]]
 name = "re_ui"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "da743da292208320c92afe504193225709217423ef81e5dea83b223768f36fee"
+checksum = "1843a36b9e7f0b4fcc9ccee3be325131b1561903b8e04fae7aff35371626b7b4"
 dependencies = [
  "eframe",
  "egui",
@@ -7975,11 +8330,29 @@ dependencies = [
  "sublime_fuzzy",
 ]
 
+[[package]]
+name = "re_video"
+version = "0.19.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "13777ccfc3a7fc873dc20af62ca9ae56ac2d7205f5aceb7eb944199aa9f126e8"
+dependencies = [
+ "cfg_aliases 0.2.1",
+ "crossbeam",
+ "econtext",
+ "itertools 0.13.0",
+ "parking_lot",
+ "re_log",
+ "re_mp4",
+ "re_rav1d",
+ "re_tracing",
+ "thiserror",
+]
+
 [[package]]
 name = "re_viewer"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ba13fb574b077cfb9199488393735f677d4f9716dd213b20c7294687805917c7"
+checksum = "d794e124ee9dac7b01527f3da5fd4f1308c37b504b0faabf5a3b16a710a88aaa"
 dependencies = [
  "ahash",
  "anyhow",
@@ -8001,6 +8374,7 @@ dependencies = [
  "re_build_tools",
  "re_chunk",
  "re_chunk_store",
+ "re_chunk_store_ui",
  "re_component_ui",
  "re_data_loader",
  "re_data_source",
@@ -8042,7 +8416,6 @@ dependencies = [
  "strum",
  "strum_macros",
  "thiserror",
- "time",
  "wasm-bindgen",
  "wasm-bindgen-futures",
  "web-sys",
@@ -8052,14 +8425,14 @@ dependencies = [
 
 [[package]]
 name = "re_viewer_context"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bf37e71676137c59cc28e35ec6794b6930ecc7b236642bbdda2876b4f1637b27"
+checksum = "0bf5d042c6c795264bc92c4b9a2eb8017a1e41d9aec3b1cadf195f877aee7e98"
 dependencies = [
  "ahash",
  "anyhow",
  "arboard",
- "bit-vec",
+ "bit-vec 0.7.0",
  "bitflags 2.6.0",
  "bytemuck",
  "egui",
@@ -8073,7 +8446,7 @@ dependencies = [
  "indexmap 2.6.0",
  "itertools 0.13.0",
  "linked-hash-map",
- "ndarray",
+ "ndarray 0.16.1",
  "nohash-hasher",
  "once_cell",
  "parking_lot",
@@ -8097,6 +8470,7 @@ dependencies = [
  "serde",
  "slotmap",
  "smallvec",
+ "strum_macros",
  "thiserror",
  "uuid",
  "wasm-bindgen-futures",
@@ -8105,9 +8479,9 @@ dependencies = [
 
 [[package]]
 name = "re_viewport"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0a2c49597b57bce96727ce13383f7078952c6550b5b5f183e488b5e2f3a1b684"
+checksum = "72496e0a1e19f68f0e488849f766da469c5779405ee4d937f4019bce1afc9a26"
 dependencies = [
  "ahash",
  "egui",
@@ -8133,9 +8507,9 @@ dependencies = [
 
 [[package]]
 name = "re_viewport_blueprint"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bd38c66cca34aca1036ea9ab0df82f5644deb7630d33393e6ff8fd2dd95827e8"
+checksum = "67debc4600f205fd658d26496923e92254e2586034db3c0cf4a87baef8b80fb2"
 dependencies = [
  "ahash",
  "egui",
@@ -8162,9 +8536,9 @@ dependencies = [
 
 [[package]]
 name = "re_web_viewer_server"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e60f63c9d651739f76ca4da19ebc5418ab43172b44b023497b4c12130d4fdb14"
+checksum = "c508ab094b491bd3b8ac0c7f2bbe093483a61b6022fd1ac46560930ae2237e7f"
 dependencies = [
  "document-features",
  "re_analytics",
@@ -8175,9 +8549,9 @@ dependencies = [
 
 [[package]]
 name = "re_ws_comms"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a2071d18e2ee8a61dbda86b4f529940612ac52b2967500e16332ad388c4610e1"
+checksum = "4775692897a25c8bb3687adea63f89069493e7c774661a7e94600cf8c74b91c7"
 dependencies = [
  "anyhow",
  "bincode",
@@ -8195,15 +8569,6 @@ dependencies = [
  "tungstenite 0.20.1",
 ]
 
-[[package]]
-name = "redox_syscall"
-version = "0.3.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "567664f262709473930a4bf9e51bf2ebf3348f2e748ccc50dea20646858f8f29"
-dependencies = [
- "bitflags 1.3.2",
-]
-
 [[package]]
 name = "redox_syscall"
 version = "0.4.1"
@@ -8327,9 +8692,9 @@ dependencies = [
 
 [[package]]
 name = "rerun"
-version = "0.18.2"
+version = "0.19.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f8e6473101c2440d9dcad8d96aef558e38f0b8bb65b3f64f050d3b37b8316ccf"
+checksum = "b6ce4d70680b035fe98b076e5e2025ae015dc9ac3a08080dd87d3faa4b4653d6"
 dependencies = [
  "anyhow",
  "document-features",
@@ -8343,6 +8708,7 @@ dependencies = [
  "re_build_tools",
  "re_chunk",
  "re_crash_handler",
+ "re_dataframe",
  "re_entity_db",
  "re_error",
  "re_format",
@@ -8354,6 +8720,7 @@ dependencies = [
  "re_smart_channel",
  "re_tracing",
  "re_types",
+ "re_video",
  "re_viewer",
  "re_web_viewer_server",
  "similar-asserts",
@@ -8613,7 +8980,7 @@ version = "0.10.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9d7e52bbc8b96db37e61a54e3f7fe3397ab109de64c772822a308cd7ac456858"
 dependencies = [
- "bit-vec",
+ "bit-vec 0.6.3",
  "byteorder",
  "bytes",
  "cdr-encoding",
@@ -8769,6 +9136,15 @@ version = "1.0.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f3cb5ba0dc43242ce17de99c180e96db90b235b8a9fdc9543c96d2209116bd9f"
 
+[[package]]
+name = "safe_arch"
+version = "0.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c3460605018fdc9612bce72735cba0d27efbcd9904780d44c7e3a9948f96148a"
+dependencies = [
+ "bytemuck",
+]
+
 [[package]]
 name = "safer-ffi"
 version = "0.1.13"
@@ -8948,6 +9324,18 @@ dependencies = [
  "shellexpand 2.1.2",
 ]
 
+[[package]]
+name = "serde-xml-rs"
+version = "0.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fb3aa78ecda1ebc9ec9847d5d3aba7d618823446a049ba2491940506da6e2782"
+dependencies = [
+ "log",
+ "serde",
+ "thiserror",
+ "xml-rs",
+]
+
 [[package]]
 name = "serde_assert"
 version = "0.7.1"
@@ -9190,6 +9578,19 @@ dependencies = [
  "rand_core",
 ]
 
+[[package]]
+name = "simba"
+version = "0.7.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2f3fd720c48c53cace224ae62bef1bbff363a70c68c4802a78b5cc6159618176"
+dependencies = [
+ "approx",
+ "num-complex",
+ "num-traits",
+ "paste",
+ "wide",
+]
+
 [[package]]
 name = "simd-adler32"
 version = "0.3.7"
@@ -9265,31 +9666,6 @@ dependencies = [
  "serde",
 ]
 
-[[package]]
-name = "smithay-client-toolkit"
-version = "0.18.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "922fd3eeab3bd820d76537ce8f582b1cf951eceb5475c28500c7457d9d17f53a"
-dependencies = [
- "bitflags 2.6.0",
- "calloop 0.12.4",
- "calloop-wayland-source 0.2.0",
- "cursor-icon",
- "libc",
- "log",
- "memmap2",
- "rustix 0.38.34",
- "thiserror",
- "wayland-backend",
- "wayland-client",
- "wayland-csd-frame",
- "wayland-cursor",
- "wayland-protocols 0.31.2",
- "wayland-protocols-wlr 0.2.0",
- "wayland-scanner",
- "xkeysym",
-]
-
 [[package]]
 name = "smithay-client-toolkit"
 version = "0.19.2"
@@ -9297,8 +9673,8 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3457dea1f0eb631b4034d61d4d8c32074caa6cd1ab2d59f2327bd8461e2c0016"
 dependencies = [
  "bitflags 2.6.0",
- "calloop 0.13.0",
- "calloop-wayland-source 0.3.0",
+ "calloop",
+ "calloop-wayland-source",
  "cursor-icon",
  "libc",
  "log",
@@ -9309,8 +9685,8 @@ dependencies = [
  "wayland-client",
  "wayland-csd-frame",
  "wayland-cursor",
- "wayland-protocols 0.32.5",
- "wayland-protocols-wlr 0.3.5",
+ "wayland-protocols",
+ "wayland-protocols-wlr",
  "wayland-scanner",
  "xkeysym",
 ]
@@ -9322,7 +9698,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cc8216eec463674a0e90f29e0ae41a4db573ec5b56b1c6c1c71615d249b6d846"
 dependencies = [
  "libc",
- "smithay-client-toolkit 0.19.2",
+ "smithay-client-toolkit",
  "wayland-backend",
 ]
 
@@ -9456,7 +9832,7 @@ version = "36.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "43cf89a0cc9131279235baf8599b0e073fbcb096419204de0cc5d1a48ae73f74"
 dependencies = [
- "proc-macro-crate 3.2.0",
+ "proc-macro-crate 1.3.1",
  "proc-macro2",
  "quote",
  "rand",
@@ -9851,6 +10227,12 @@ version = "0.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1f3ccbac311fea05f86f61904b462b55fb3df8837a366dfc601a0161d0532f20"
 
+[[package]]
+name = "to_method"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c7c4ceeeca15c8384bbc3e011dbd8fccb7f068a440b752b7d9b32ceb0ca0e2e8"
+
 [[package]]
 name = "tobj"
 version = "4.0.2"
@@ -10313,6 +10695,20 @@ dependencies = [
  "syn 1.0.109",
 ]
 
+[[package]]
+name = "urdf-rs"
+version = "0.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "074515a3e6dc230bbbdcf35830fd71b67b55ae2ac22bc4ff69d89412fc84b830"
+dependencies = [
+ "RustyXML",
+ "quick-xml 0.36.2",
+ "regex",
+ "serde",
+ "serde-xml-rs",
+ "thiserror",
+]
+
 [[package]]
 name = "ureq"
 version = "2.9.7"
@@ -10480,19 +10876,20 @@ checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423"
 
 [[package]]
 name = "wasm-bindgen"
-version = "0.2.92"
+version = "0.2.93"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4be2531df63900aeb2bca0daaaddec08491ee64ceecbee5076636a3b026795a8"
+checksum = "a82edfc16a6c469f5f44dc7b571814045d60404b55a0ee849f9bcfa2e63dd9b5"
 dependencies = [
  "cfg-if 1.0.0",
+ "once_cell",
  "wasm-bindgen-macro",
 ]
 
 [[package]]
 name = "wasm-bindgen-backend"
-version = "0.2.92"
+version = "0.2.93"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "614d787b966d3989fa7bb98a654e369c762374fd3213d212cfc0251257e747da"
+checksum = "9de396da306523044d3302746f1208fa71d7532227f15e347e2d93e4145dd77b"
 dependencies = [
  "bumpalo",
  "log",
@@ -10517,9 +10914,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro"
-version = "0.2.92"
+version = "0.2.93"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a1f8823de937b71b9460c0c34e25f3da88250760bec0ebac694b49997550d726"
+checksum = "585c4c91a46b072c92e908d99cb1dcdf95c5218eeb6f3bf1efa991ee7a68cccf"
 dependencies = [
  "quote",
  "wasm-bindgen-macro-support",
@@ -10527,9 +10924,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro-support"
-version = "0.2.92"
+version = "0.2.93"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e94f17b526d0a461a191c78ea52bbce64071ed5c04c9ffe424dcb38f74171bb7"
+checksum = "afc340c74d9005395cf9dd098506f7f44e38f2b4a21c6aaacf9a105ea5e1e836"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -10540,9 +10937,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-shared"
-version = "0.2.92"
+version = "0.2.93"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "af190c94f2773fdb3729c55b007a722abb5384da03bc0986df4c289bf5567e96"
+checksum = "c62a0a307cb4a311d3a07867860911ca130c3494e8c2719593806c08bc5d0484"
 
 [[package]]
 name = "wasm-streams"
@@ -10605,18 +11002,6 @@ dependencies = [
  "xcursor",
 ]
 
-[[package]]
-name = "wayland-protocols"
-version = "0.31.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8f81f365b8b4a97f422ac0e8737c438024b5951734506b0e1d775c73030561f4"
-dependencies = [
- "bitflags 2.6.0",
- "wayland-backend",
- "wayland-client",
- "wayland-scanner",
-]
-
 [[package]]
 name = "wayland-protocols"
 version = "0.32.5"
@@ -10631,27 +11016,14 @@ dependencies = [
 
 [[package]]
 name = "wayland-protocols-plasma"
-version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "23803551115ff9ea9bce586860c5c5a971e360825a0309264102a9495a5ff479"
-dependencies = [
- "bitflags 2.6.0",
- "wayland-backend",
- "wayland-client",
- "wayland-protocols 0.31.2",
- "wayland-scanner",
-]
-
-[[package]]
-name = "wayland-protocols-wlr"
-version = "0.2.0"
+version = "0.3.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ad1f61b76b6c2d8742e10f9ba5c3737f6530b4c243132c2a2ccc8aa96fe25cd6"
+checksum = "9b31cab548ee68c7eb155517f2212049dc151f7cd7910c2b66abfd31c3ee12bd"
 dependencies = [
  "bitflags 2.6.0",
  "wayland-backend",
  "wayland-client",
- "wayland-protocols 0.31.2",
+ "wayland-protocols",
  "wayland-scanner",
 ]
 
@@ -10664,7 +11036,7 @@ dependencies = [
  "bitflags 2.6.0",
  "wayland-backend",
  "wayland-client",
- "wayland-protocols 0.32.5",
+ "wayland-protocols",
  "wayland-scanner",
 ]
 
@@ -10693,9 +11065,9 @@ dependencies = [
 
 [[package]]
 name = "web-sys"
-version = "0.3.69"
+version = "0.3.70"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "77afa9a11836342370f4817622a2f0f418b134426d91a82dfb48f532d2ec13ef"
+checksum = "26fdeaafd9bd129f65e7c031593c24d62186301e0c72c8978fa1678be7d532c0"
 dependencies = [
  "js-sys",
  "wasm-bindgen",
@@ -10703,9 +11075,9 @@ dependencies = [
 
 [[package]]
 name = "web-time"
-version = "0.2.4"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "aa30049b1c872b72c89866d458eae9f20380ab280ffd1b1e18df2d3e2d98cfe0"
+checksum = "5a6580f308b1fad9207618087a65c04e7a10bc77e02c8e84e9b00dd4b12fa0bb"
 dependencies = [
  "js-sys",
  "wasm-bindgen",
@@ -10734,13 +11106,13 @@ version = "1.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "425ba64c1e13b1c6e8c5d2541c8fac10022ca584f33da781db01b5756aef1f4e"
 dependencies = [
- "block2 0.5.1",
+ "block2",
  "core-foundation",
  "home",
  "jni",
  "log",
  "ndk-context",
- "objc2 0.5.2",
+ "objc2",
  "objc2-foundation",
  "url",
  "web-sys",
@@ -10782,12 +11154,11 @@ checksum = "53a85b86a771b1c87058196170769dd264f66c0782acf1ae6cc51bfd64b39082"
 
 [[package]]
 name = "wgpu"
-version = "0.20.1"
+version = "22.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "90e37c7b9921b75dfd26dd973fdcbce36f13dfa6e2dc82aece584e0ed48c355c"
+checksum = "e1d1c4ba43f80542cf63a0a6ed3134629ae73e8ab51e4b765a67f3aa062eb433"
 dependencies = [
  "arrayvec",
- "cfg-if 1.0.0",
  "cfg_aliases 0.1.1",
  "document-features",
  "js-sys",
@@ -10808,15 +11179,14 @@ dependencies = [
 
 [[package]]
 name = "wgpu-core"
-version = "0.21.1"
+version = "22.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d50819ab545b867d8a454d1d756b90cd5f15da1f2943334ca314af10583c9d39"
+checksum = "0348c840d1051b8e86c3bcd31206080c5e71e5933dabd79be1ce732b0b2f089a"
 dependencies = [
  "arrayvec",
- "bit-vec",
+ "bit-vec 0.7.0",
  "bitflags 2.6.0",
  "cfg_aliases 0.1.1",
- "codespan-reporting",
  "document-features",
  "indexmap 2.6.0",
  "log",
@@ -10828,16 +11198,15 @@ dependencies = [
  "rustc-hash",
  "smallvec",
  "thiserror",
- "web-sys",
  "wgpu-hal",
  "wgpu-types",
 ]
 
 [[package]]
 name = "wgpu-hal"
-version = "0.21.1"
+version = "22.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "172e490a87295564f3fcc0f165798d87386f6231b04d4548bca458cbbfd63222"
+checksum = "f6bbf4b4de8b2a83c0401d9e5ae0080a2792055f25859a02bf9be97952bbed4f"
 dependencies = [
  "android_system_properties",
  "arrayvec",
@@ -10846,7 +11215,7 @@ dependencies = [
  "block",
  "cfg_aliases 0.1.1",
  "core-graphics-types",
- "glow",
+ "glow 0.13.1",
  "glutin_wgl_sys",
  "gpu-alloc",
  "gpu-allocator",
@@ -10859,7 +11228,7 @@ dependencies = [
  "log",
  "metal",
  "naga",
- "ndk-sys",
+ "ndk-sys 0.5.0+25.2.9519653",
  "objc",
  "once_cell",
  "parking_lot",
@@ -10877,9 +11246,9 @@ dependencies = [
 
 [[package]]
 name = "wgpu-types"
-version = "0.20.0"
+version = "22.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1353d9a46bff7f955a680577f34c69122628cc2076e1d6f3a9be6ef00ae793ef"
+checksum = "bc9d91f0e2c4b51434dfa6db77846f2793149d8e73f800fa2e41f52b8eac3c5d"
 dependencies = [
  "bitflags 2.6.0",
  "js-sys",
@@ -10899,6 +11268,16 @@ dependencies = [
  "windows-sys 0.48.0",
 ]
 
+[[package]]
+name = "wide"
+version = "0.7.28"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b828f995bf1e9622031f8009f8481a85406ce1f4d4588ff746d872043e855690"
+dependencies = [
+ "bytemuck",
+ "safe_arch",
+]
+
 [[package]]
 name = "widestring"
 version = "1.1.0"
@@ -10981,22 +11360,21 @@ dependencies = [
 
 [[package]]
 name = "windows"
-version = "0.48.0"
+version = "0.52.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e686886bc078bc1b0b600cac0147aadb815089b6e4da64016cbd754b6342700f"
+checksum = "e48a53791691ab099e5e2ad123536d0fff50652600abaf43bbf952894110d0be"
 dependencies = [
- "windows-implement",
- "windows-interface",
- "windows-targets 0.48.5",
+ "windows-core 0.52.0",
+ "windows-targets 0.52.6",
 ]
 
 [[package]]
 name = "windows"
-version = "0.52.0"
+version = "0.58.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e48a53791691ab099e5e2ad123536d0fff50652600abaf43bbf952894110d0be"
+checksum = "dd04d41d93c4992d421894c18c8b43496aa748dd4c081bac0dc93eb0489272b6"
 dependencies = [
- "windows-core",
+ "windows-core 0.58.0",
  "windows-targets 0.52.6",
 ]
 
@@ -11009,26 +11387,39 @@ dependencies = [
  "windows-targets 0.52.6",
 ]
 
+[[package]]
+name = "windows-core"
+version = "0.58.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6ba6d44ec8c2591c134257ce647b7ea6b20335bf6379a27dac5f1641fcf59f99"
+dependencies = [
+ "windows-implement",
+ "windows-interface",
+ "windows-result",
+ "windows-strings",
+ "windows-targets 0.52.6",
+]
+
 [[package]]
 name = "windows-implement"
-version = "0.48.0"
+version = "0.58.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5e2ee588991b9e7e6c8338edf3333fbe4da35dc72092643958ebb43f0ab2c49c"
+checksum = "2bbd5b46c938e506ecbce286b6628a02171d56153ba733b6c741fc627ec9579b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 1.0.109",
+ "syn 2.0.86",
 ]
 
 [[package]]
 name = "windows-interface"
-version = "0.48.0"
+version = "0.58.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e6fb8df20c9bcaa8ad6ab513f7b40104840c8867d5751126e4df3b08388d0cc7"
+checksum = "053c4c462dc91d3b1504c6fe5a726dd15e216ba718e84a0e46a88fbe5ded3515"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 1.0.109",
+ "syn 2.0.86",
 ]
 
 [[package]]
@@ -11322,46 +11713,50 @@ checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
 
 [[package]]
 name = "winit"
-version = "0.29.15"
+version = "0.30.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0d59ad965a635657faf09c8f062badd885748428933dad8e8bdd64064d92e5ca"
+checksum = "0be9e76a1f1077e04a411f0b989cbd3c93339e1771cb41e71ac4aee95bfd2c67"
 dependencies = [
  "ahash",
  "android-activity",
  "atomic-waker",
  "bitflags 2.6.0",
+ "block2",
  "bytemuck",
- "calloop 0.12.4",
- "cfg_aliases 0.1.1",
+ "calloop",
+ "cfg_aliases 0.2.1",
+ "concurrent-queue",
  "core-foundation",
  "core-graphics",
  "cursor-icon",
- "icrate",
+ "dpi",
  "js-sys",
  "libc",
- "log",
  "memmap2",
  "ndk",
- "ndk-sys",
- "objc2 0.4.1",
- "once_cell",
+ "objc2",
+ "objc2-app-kit",
+ "objc2-foundation",
+ "objc2-ui-kit",
  "orbclient",
  "percent-encoding",
+ "pin-project",
  "raw-window-handle 0.6.2",
- "redox_syscall 0.3.5",
+ "redox_syscall 0.4.1",
  "rustix 0.38.34",
- "smithay-client-toolkit 0.18.1",
+ "smithay-client-toolkit",
  "smol_str",
+ "tracing",
  "unicode-segmentation",
  "wasm-bindgen",
  "wasm-bindgen-futures",
  "wayland-backend",
  "wayland-client",
- "wayland-protocols 0.31.2",
+ "wayland-protocols",
  "wayland-protocols-plasma",
  "web-sys",
  "web-time",
- "windows-sys 0.48.0",
+ "windows-sys 0.52.0",
  "x11-dl",
  "x11rb",
  "xkbcommon-dl",
@@ -11539,12 +11934,12 @@ version = "3.15.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "675d170b632a6ad49804c8cf2105d7c31eddd3312555cffd4b740e08e97c25e6"
 dependencies = [
- "async-broadcast",
+ "async-broadcast 0.5.1",
  "async-executor",
  "async-fs 1.6.0",
  "async-io 1.13.0",
  "async-lock 2.8.0",
- "async-process",
+ "async-process 1.8.1",
  "async-recursion",
  "async-task",
  "async-trait",
@@ -11569,9 +11964,71 @@ dependencies = [
  "uds_windows",
  "winapi 0.3.9",
  "xdg-home",
- "zbus_macros",
- "zbus_names",
- "zvariant",
+ "zbus_macros 3.15.2",
+ "zbus_names 2.6.1",
+ "zvariant 3.15.2",
+]
+
+[[package]]
+name = "zbus"
+version = "4.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bb97012beadd29e654708a0fdb4c84bc046f537aecfde2c3ee0a9e4b4d48c725"
+dependencies = [
+ "async-broadcast 0.7.1",
+ "async-executor",
+ "async-fs 2.1.2",
+ "async-io 2.3.3",
+ "async-lock 3.4.0",
+ "async-process 2.3.0",
+ "async-recursion",
+ "async-task",
+ "async-trait",
+ "blocking",
+ "enumflags2",
+ "event-listener 5.3.1",
+ "futures-core",
+ "futures-sink",
+ "futures-util",
+ "hex",
+ "nix 0.29.0",
+ "ordered-stream",
+ "rand",
+ "serde",
+ "serde_repr",
+ "sha1",
+ "static_assertions",
+ "tracing",
+ "uds_windows",
+ "windows-sys 0.52.0",
+ "xdg-home",
+ "zbus_macros 4.4.0",
+ "zbus_names 3.0.0",
+ "zvariant 4.2.0",
+]
+
+[[package]]
+name = "zbus-lockstep"
+version = "0.4.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4ca2c5dceb099bddaade154055c926bb8ae507a18756ba1d8963fd7b51d8ed1d"
+dependencies = [
+ "zbus_xml",
+ "zvariant 4.2.0",
+]
+
+[[package]]
+name = "zbus-lockstep-macros"
+version = "0.4.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "709ab20fc57cb22af85be7b360239563209258430bccf38d8b979c5a2ae3ecce"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.86",
+ "zbus-lockstep",
+ "zbus_xml",
+ "zvariant 4.2.0",
 ]
 
 [[package]]
@@ -11585,7 +12042,20 @@ dependencies = [
  "quote",
  "regex",
  "syn 1.0.109",
- "zvariant_utils",
+ "zvariant_utils 1.0.1",
+]
+
+[[package]]
+name = "zbus_macros"
+version = "4.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "267db9407081e90bbfa46d841d3cbc60f59c0351838c4bc65199ecd79ab1983e"
+dependencies = [
+ "proc-macro-crate 3.2.0",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.86",
+ "zvariant_utils 2.1.0",
 ]
 
 [[package]]
@@ -11596,7 +12066,31 @@ checksum = "437d738d3750bed6ca9b8d423ccc7a8eb284f6b1d6d4e225a0e4e6258d864c8d"
 dependencies = [
  "serde",
  "static_assertions",
- "zvariant",
+ "zvariant 3.15.2",
+]
+
+[[package]]
+name = "zbus_names"
+version = "3.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4b9b1fef7d021261cc16cba64c351d291b715febe0fa10dc3a443ac5a5022e6c"
+dependencies = [
+ "serde",
+ "static_assertions",
+ "zvariant 4.2.0",
+]
+
+[[package]]
+name = "zbus_xml"
+version = "4.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ab3f374552b954f6abb4bd6ce979e6c9b38fb9d0cd7cc68a7d796e70c9f3a233"
+dependencies = [
+ "quick-xml 0.30.0",
+ "serde",
+ "static_assertions",
+ "zbus_names 3.0.0",
+ "zvariant 4.2.0",
 ]
 
 [[package]]
@@ -11994,6 +12488,7 @@ version = "0.7.34"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ae87e3fcd617500e5d106f0380cf7b77f3c6092aae37191433159dda23cfb087"
 dependencies = [
+ "byteorder",
  "zerocopy-derive",
 ]
 
@@ -12069,7 +12564,20 @@ dependencies = [
  "serde",
  "static_assertions",
  "url",
- "zvariant_derive",
+ "zvariant_derive 3.15.2",
+]
+
+[[package]]
+name = "zvariant"
+version = "4.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2084290ab9a1c471c38fc524945837734fbf124487e105daec2bb57fd48c81fe"
+dependencies = [
+ "endi",
+ "enumflags2",
+ "serde",
+ "static_assertions",
+ "zvariant_derive 4.2.0",
 ]
 
 [[package]]
@@ -12082,7 +12590,20 @@ dependencies = [
  "proc-macro2",
  "quote",
  "syn 1.0.109",
- "zvariant_utils",
+ "zvariant_utils 1.0.1",
+]
+
+[[package]]
+name = "zvariant_derive"
+version = "4.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "73e2ba546bda683a90652bac4a279bc146adad1386f25379cf73200d2002c449"
+dependencies = [
+ "proc-macro-crate 3.2.0",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.86",
+ "zvariant_utils 2.1.0",
 ]
 
 [[package]]
@@ -12095,3 +12616,14 @@ dependencies = [
  "quote",
  "syn 1.0.109",
 ]
+
+[[package]]
+name = "zvariant_utils"
+version = "2.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c51bcff7cc3dbb5055396bcf774748c3dab426b4b8659046963523cee4808340"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.86",
+]
diff --git a/node-hub/dora-rerun/Cargo.toml b/node-hub/dora-rerun/Cargo.toml
index 8cdf24249..930d5d702 100644
--- a/node-hub/dora-rerun/Cargo.toml
+++ b/node-hub/dora-rerun/Cargo.toml
@@ -29,4 +29,4 @@ pyo3 = { workspace = true, features = [
 [lib]
 name = "dora_rerun"
 path = "src/lib.rs"
-crate-type = ["rlib", "cdylib"]
+crate-type = ["lib", "cdylib"]
diff --git a/node-hub/dora-rerun/README.md b/node-hub/dora-rerun/README.md
index 7e3305e6d..5a6ee21ff 100644
--- a/node-hub/dora-rerun/README.md
+++ b/node-hub/dora-rerun/README.md
@@ -56,6 +56,14 @@ Make sure to name the dataflow as follows:
 > [!IMPORTANT]  
 > Make sure that the urdf file name correspond to your dataflow object name otherwise, it will not be able to link to the corresponding entity.
 
+> [!WARNING]
+> Please make sure to review the following gotchas:
+>
+> - Filename included in URDF are going to be relative to your dataflow working directory instead of the URDF path: https://github.com/rerun-io/rerun-loader-python-example-urdf/issues/13
+> - URDF loader is not on pip and so you need to install it yourself https://github.com/rerun-io/rerun-loader-python-example-urdf/issues/12
+> - There is no warning if a file is not logged properly. https://github.com/rerun-io/rerun-loader-python-example-urdf/pull/14
+> - There is no transparent color in rerun. https://github.com/rerun-io/rerun/issues/1611
+
 ## Configurations
 
 - RERUN_MEMORY_LIMIT: Rerun memory limit

From aa63796079402b870a67029b78778bc48a36a183 Mon Sep 17 00:00:00 2001
From: haixuanTao <tao.xavier@outlook.com>
Date: Mon, 11 Nov 2024 04:40:35 +0100
Subject: [PATCH 7/7] Make dataflow name more explicit

---
 examples/piper/dataflow.yml                   | 33 -------------------
 ...{piper_inference.py => dummy_inference.py} |  0
 ...inference.yml => play_dummy_inference.yml} |  2 +-
 3 files changed, 1 insertion(+), 34 deletions(-)
 delete mode 100644 examples/piper/dataflow.yml
 rename examples/piper/{piper_inference.py => dummy_inference.py} (100%)
 rename examples/piper/{play_inference.yml => play_dummy_inference.yml} (96%)

diff --git a/examples/piper/dataflow.yml b/examples/piper/dataflow.yml
deleted file mode 100644
index 1863a53ae..000000000
--- a/examples/piper/dataflow.yml
+++ /dev/null
@@ -1,33 +0,0 @@
-nodes:
-  - id: piper_left
-    path: /home/agilex/1ms.ai/piper_sdk/dora_piper.py
-    _unstable_deploy:
-      machine: piper
-    inputs:
-      tick: dora/timer/millis/20
-    outputs:
-      - jointstate
-    env:
-      CAN_BUS: can_left
-
-  - id: piper_right
-    path: /home/agilex/1ms.ai/piper_sdk/dora_piper.py
-    _unstable_deploy:
-      machine: piper
-    inputs:
-      tick: dora/timer/millis/20
-    outputs:
-      - jointstate
-    env:
-      CAN_BUS: can_right
-
-  - id: rerun
-    path: dora-rerun
-    inputs:
-      jointstate_piper_left: piper_left/jointstate
-      jointstate_piper_right: piper_right/jointstate
-    env:
-      piper_left.urdf: /home/peter/Documents/work/dora/node-hub/dora-rerun/assets/piper_left.urdf
-      piper_right.urdf: /home/peter/Documents/work/dora/node-hub/dora-rerun/assets/piper_right.urdf
-      piper_left.transform: 0 0.2 0
-      piper_right.transform: 0 -0.2 0
diff --git a/examples/piper/piper_inference.py b/examples/piper/dummy_inference.py
similarity index 100%
rename from examples/piper/piper_inference.py
rename to examples/piper/dummy_inference.py
diff --git a/examples/piper/play_inference.yml b/examples/piper/play_dummy_inference.yml
similarity index 96%
rename from examples/piper/play_inference.yml
rename to examples/piper/play_dummy_inference.yml
index 48b1cee3f..6169f51d5 100644
--- a/examples/piper/play_inference.yml
+++ b/examples/piper/play_dummy_inference.yml
@@ -1,6 +1,6 @@
 nodes:
   - id: piper
-    path: piper_inference.py
+    path: dummy_inference.py
     inputs:
       tick: dora/timer/millis/20
     outputs: