Migrating from 0.27 to 0.28

Pose* component types have been removed pose-component-types-have-been-removed

The following component types have been removed in favor of their more general counterparts:

• components.PoseTranslation3D → components.Translation3D
• components.PoseRotationQuat → components.RotationQuat
• components.PoseTransformMat3x3 → components.TransformMat3x3
• components.PoseRotationAxisAngle → components.RotationAxisAngle
• components.PoseScale3D → components.Scale3D

Existing .rrd files will be automatically migrated when opened.

Transform3D no longer supports axis_length for visualizing coordinate axes transform3d-no-longer-supports-axislength-for-visualizing-coordinate-axes

The axis_length parameter/method has been moved from Transform3D to a new TransformAxes3D archetype, which you can log alongside of Transform3D. This new archetype also works with the CoordinateFrame archetype.

Existing .rrd recordings will be automatically migrated when opened (the migration converts Transform3D:axis_length components to TransformAxes3D:axis_length).

CoordinateFrame::frame_id has been renamed to CoordinateFrame::frame coordinateframeframeid-has-been-renamed-to-coordinateframeframe

The frame_id component of CoordinateFrame has been renamed to just frame, because the component type TransformFrameId already conveys the information that this is an id.

Existing .rrd recordings will be automatically migrated when opened (the migration renames the frame_id component).

Changes to Transform3D/InstancePose3D and Pinhole's transform properties are now treated transactionally by the Viewer changes-to-transform3dinstancepose3d-and-pinholes-transform-properties-are-now-treated-transactionally-by-the-viewer

If you previously updated only certain components of Transform3D/InstancePose3D and relied on previously logged values remaining present, you must now re-log those previous values every time you update the Transform3D/InstancePose3D.

If you always logged the same transform components on every log/send call or used the standard constructor of Transform3D, no changes are required!

import rerun as rr

rr.log("simple", rr.Transform3D(translation=[1.0, 2.0, 3.0]))

# Note that we explicitly only set the scale here:
# Previously, this would have meant that we keep the translation.
# However, in 0.27 the Viewer will no longer show apply the previous translation regardless.
rr.log("simple", rr.Transform3D.from_fields(scale=2))

Pinhole's transform properties, resolution & image_from_plane as well its new parent_frame & child_frame, fields are also affected by this change. Again, this means that any change to any of Pinhole's resolution/image_from_plane/parent_frame/child_frame, will reset all of these fields.

Details & motivation details--motivation

We changed the way Transform3D, InstancePose3D & Pinhole are queried under the hood!

Usually, when querying any collection of components with latest-at semantics, we look for the latest update of each individual component. This is useful, for example, when you log a mesh and only change its texture over time: a latest-at query at any point in time gets all the same vertex information, but the texture that is active at any given point in time may change.

However, for Transform3D, this behavior can be very surprising, as the typical expectation is that logging a Transform3D with only a rotation will not inherit previously logged translations to the same path. Previously, to work around this, all SDKs implemented the constructor of Transform3D such that it set all components to empty arrays, thereby clearing everything that was logged before. This caused significant memory (and networking) bloat, as well as needlessly convoluted displays in the viewer. With the arrival of explicit ROS-style transform frames, per-component latest-at semantics can cause even more surprising side effects.

Therefore, we decided to change the semantics of Transform3D such that any change to any of its components fully resets the transform state.

For example, if you change its rotation and scale fields but do not write to translation, we will not look further back in time to find the previous value of translation. Instead, we assume that translation is not set at all (i.e., zero), deriving the new overall transform state only from rotation and scale. Naturally, if any update to a transform always changes the same components, this does not cause any changes other than the simplification of not having to clear out all other components that may ever be set, thus reducing memory bloat both on send and query!

URDF loader: sending transform updates now requires parent_frame and child_frame fields to be set urdf-loader-sending-transform-updates-now-requires-parentframe-and-childframe-fields-to-be-set

Previous versions of the built-in URDF data-loader in Rerun required you to send transform updates with implicit frame IDs, i.e. having to send each joint transform on a specific entity path. Depending on the complexity of your robot model, this could quickly lead to long entity paths. E.g. when you wanted to update a joint deeper in your model hierarchy.

In 0.28, this is now dropped in favor of transforms with named frame IDs (parent_frame, child_frame). This is more in line with the TF2 system in ROS and allows you to send all transform updates on one single entity (e.g. a transforms entity).

In particular, this results in two changes compared after you load an URDF model into Rerun compared to previous releases:

1. To update a joint with a Transform3D, the parent_frame and child_frame fields need to be set (analogous to how the joint is specified in the URDF file).
2. The transformation must have both rotation and translation (again, analogous to the URDF). Updating only the rotation is no longer supported.

For more details about loading & updating URDF models, we added a "Loading URDF models" page to our documentation in this release.

Python SDK: catalog API overhaul python-sdk-catalog-api-overhaul

This release includes a major overhaul of the rerun.catalog module that aims to clarify and consolidate the APIs, and make them more future-proof. This includes improving naming, more consistently using DataFusion's dataframes, removing/merging redundant APIs, and exposing fewer implementation details.

We used deprecations to ease migration where possible, but several changes required breaking the API when deprecation would have been too complex. All deprecated APIs will be removed in a future release.

"Partition" renamed to "Segment" partition-renamed-to-segment

The term "partition" is overloaded in data science, and our use of it could be confusing. To avoid this, the "partition" terminology has been renamed to "segment" instead. The old APIs are deprecated.

The column rerun_partition_id is now rerun_segment_id (breaking change), and the partition_id field on viewer event classes (PlayEvent, PauseEvent, etc.) is now segment_id (the old name is deprecated and will be removed in a future release).

Catalog client catalog-client

Method renames (deprecated, old names still work):

New features:

• entries(), datasets(), tables(), and their *_names() variants now accept include_hidden=True to include blueprint datasets and system tables.

Breaking change: The entries(), datasets(), and tables() methods now return lists of entry objects (DatasetEntry/TableEntry) instead of DataFrames. For DataFrame access to raw entries, use client.get_table(name="__entries").reader().

Tables tables

Breaking changes:

get_table() now returns a TableEntry object instead of a DataFrame:

# Before (0.27)
df = client.get_table(name="my_table")

# After (0.28)
df = client.get_table(name="my_table").reader()

TableEntry.df() has been renamed to TableEntry.reader().

Deprecations: Write operations moved from CatalogClient to TableEntry:

The new methods also support keyword arguments: table.append(col1=[1, 2, 3], col2=["a", "b", "c"]).

Dataset querying dataset-querying

Breaking change: DataframeQueryView has been removed. Its functionality has been split between DatasetView (for segment and content filtering) and standard DataFusion DataFrame operations (for row-level filtering).

Use DatasetEntry.filter_segments() and DatasetEntry.filter_contents() to create a DatasetView, then call reader() to get a datafusion.DataFrame. Any row-level filtering (like filter_is_not_null()) should now be done on the resulting DataFrame using DataFusion's filtering APIs.

# Before (0.27)
view = dataset.dataframe_query_view(index="timeline", contents={"/points": ["Position2D"]})
df = view.filter_partition_id(["recording_0"]).df()

# After (0.28)
view = dataset.filter_segments(["recording_0"]).filter_contents(["/points/**"])
df = view.reader(index="timeline")

DatasetEntry.segment_table() and DatasetEntry.manifest() now return datafusion.DataFrame directly (no .df() call needed). segment_table() also accepts optional join_meta and join_key parameters for joining with external metadata.

Key migration patterns:

• Index selection: dataset.reader(index="timeline")
• Content filtering: dataset.filter_contents(["/points/**"]).reader(...)
• Segment filtering: dataset.filter_segments(["recording_0"]).reader(...)
• Latest-at fill: dataset.reader(index="timeline", fill_latest_at=True)
• Row filtering: Use DataFusion's df.filter(col(...).is_not_null()) on the returned DataFrame

Registration and tasks registration-and-tasks

The dataset segment registration APIs have been consolidated, and return a RegistrationHandle specific to the registration process. The more generic Tasks object previously used has been removed.

Breaking change: register() and register_batch() have been merged into a unified register() API that returns a RegistrationHandle:

# Single registration
segment_id = dataset.register("s3://bucket/recording.rrd").wait().segment_ids[0]

# Batch registration
handle = dataset.register(["file:///uri1.rrd", "file:///uri2.rrd"], layer_name="base")
segment_ids = handle.wait().segment_ids

# Progress tracking
for result in handle.iter_results():
    print(f"Registered {result.uri} as {result.segment_id}")

The recording_layer parameter has been renamed to layer_name.

Blueprints blueprints

The updated APIs now abstracted from the underlying storage mechanism (blueprint datasets).

Deprecations:

New methods:

• dataset.register_blueprint(url, set_default=True) - register and optionally set as default
• dataset.blueprints() - list all registered blueprints

Search indexes search-indexes

Deprecations: Methods renamed to clarify "search index" vs "dataset index":

Breaking change: search_fts() and search_vector() now return datafusion.DataFrame directly:

# Before (0.27)
result = dataset.search_fts("query", column).df()

# After (0.28)
result = dataset.search_fts("query", column)

Schema types moved schema-types-moved

The Schema class and column descriptor/selector types have moved from rerun.dataframe to rerun.catalog. The old import paths still work but are deprecated.

Other deprecations other-deprecations

DatasetEntry.download_segments() is deprecated and will be removed in a future release.