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How to save a Python sensor run to a .dlr file for later review with Dalaran

Log data from a script to a .dlr file and open it in the viewer afterward.

Who it is forA developer or researcher who runs a simulator or offline pipeline in Python and wants a replayable file to share.

The problemLive viewing ends when the script ends, so the run cannot be inspected later or sent to a colleague.

The outcomeA session.dlr file that can be opened in the viewer at any time, with the logged frames on a sequence timeline.

What you need first

  • Python with pip, or Rust with cargo, to install the Dalaran SDK or viewer
  • A terminal to run the dalaran command
  • An existing .rrd, .dlr, or MCAP recording, or a ROS 2 setup with rosbag2 files, for the replay use cases

Steps

  1. Run pip install dalaran-sdk to install the Python SDK.
  2. Write a script that calls dl.init with your app name, sets a frame timeline with dl.set_time, and logs points with dl.log.
  3. In the same script, call dl.save("session.dlr") in place of spawning a live viewer.
  4. Run dalaran session.dlr to open the saved recording and scrub through the frames.

Prompt for your agent

In the Flaminis/Dalaran repository, install dalaran-sdk with pip, then write a Python script that logs 100 frames of a point cloud to session.dlr using dl.save. Expected output is a session.dlr file. Verify it by running dalaran session.dlr and confirming the frame timeline appears.

Caveat. The README calls the API still evolving with breaking changes between releases, so check CHANGELOG.md if a call fails after an upgrade.

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