Rerun Recording
Multimodal Rerun recording of an AR4 pick-and-place run, streamed from the auraison artifacts bucket.
An interactive Rerun recording of a full AR4 pick-and-place
run in the tabletop Gazebo world — the 3D arm (URDF meshes driven by /tf), the
wrist-camera stream, per-joint position plots, and the traced end-effector path,
all on one scrubable timeline.
How it is produced
The recording is captured by a decoupled recorder (ar4_rerun) that runs in
its own container and talks to the ROS side only over Zenoh
(zenoh-bridge-ros2dds). This keeps rerun-sdk (numpy 2) fully isolated from
the ROS 2 Jazzy images (numpy 1.x). The resulting .rrd is uploaded to the
auraison artifacts bucket by the auraison / pi-agent orchestrator, and embedded
below via the pinned app.rerun.io web viewer (version matched to the SDK that
wrote the file).
See ar4_rerun/README.md for the full record sequence.
AR4 pick-and-place — open the full Rerun viewer ↗
The viewer loads the recording from
https://ar4-physical-ai.aegeanai.com/rerun/ar4-pick-place/ar4_pick_place.rrd. The viewer version (0.29.2) is pinned to thererun-sdkthat wrote the.rrd— a newer recording will not load in an older viewer.