pymcap-cli 0.9.0__tar.gz → 0.10.0__tar.gz

{pymcap_cli-0.9.0 → pymcap_cli-0.10.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.3
 Name: pymcap-cli
-Version: 0.9.0
+Version: 0.10.0
 Summary: High-performance Python CLI for MCAP file processing with advanced recovery, filtering, and optimization capabilities
 Keywords: mcap,cli,robotics,ros,ros2,recovery,filtering,compression
 Author: Marko Bausch
@@ -16,39 +16,45 @@ Classifier: Programming Language :: Python :: 3.10
 Classifier: Programming Language :: Python :: 3.11
 Classifier: Programming Language :: Python :: 3.12
 Classifier: Programming Language :: Python :: 3.13
+Classifier: Programming Language :: Python :: 3.14
 Classifier: Topic :: Scientific/Engineering
 Classifier: Topic :: System :: Archiving
 Classifier: Topic :: Utilities
 Classifier: Typing :: Typed
 Requires-Dist: rich>=14.1.0
 Requires-Dist: small-mcap[compression]
-Requires-Dist: mcap-codec-support[ros2]
 Requires-Dist: mcap-ros2-support-fast
 Requires-Dist: cyclopts>=4
 Requires-Dist: ros-parser
 Requires-Dist: platformdirs>=4.0.0
 Requires-Dist: pyyaml>=6.0
 Requires-Dist: typing-extensions>=4.15.0
-Requires-Dist: pymcap-cli[video,pointcloud,plot,parquet,image,draco] ; extra == 'all'
+Requires-Dist: pymcap-cli[video,pointcloud,plot,parquet,image,draco,bridge,xxhash] ; extra == 'all'
+Requires-Dist: robo-ws-bridge ; extra == 'bridge'
 Requires-Dist: mcap-codec-support[draco] ; extra == 'draco'
-Requires-Dist: mcap-codec-support[image] ; extra == 'image'
+Requires-Dist: pillow>=10.0 ; extra == 'image'
+Requires-Dist: pymcap-cli[image,draco,bridge,xxhash] ; extra == 'lite'
 Requires-Dist: pyarrow>=15.0.0 ; extra == 'parquet'
 Requires-Dist: numpy>=1.24.0 ; extra == 'parquet'
 Requires-Dist: mcap-codec-support[pointcloud] ; extra == 'parquet'
 Requires-Dist: plotly>=6.0.0 ; extra == 'plot'
 Requires-Dist: mcap-codec-support[pointcloud] ; extra == 'pointcloud'
 Requires-Dist: mcap-codec-support[video] ; extra == 'video'
+Requires-Dist: xxhash>=3.0.0 ; extra == 'xxhash'
 Requires-Python: >=3.10
 Project-URL: Homepage, https://github.com/mrkbac/robotic-tools
 Project-URL: Issues, https://github.com/mrkbac/robotic-tools/issues
 Project-URL: Repository, https://github.com/mrkbac/robotic-tools
 Provides-Extra: all
+Provides-Extra: bridge
 Provides-Extra: draco
 Provides-Extra: image
+Provides-Extra: lite
 Provides-Extra: parquet
 Provides-Extra: plot
 Provides-Extra: pointcloud
 Provides-Extra: video
+Provides-Extra: xxhash
 Description-Content-Type: text/markdown
 
 # pymcap-cli
@@ -80,6 +86,7 @@ uv add pymcap-cli[video]
 - **Smart Chunk Copying** — fast chunk copying without decompression when possible, up to 10x faster for filtering operations
 - **Unified Processing** — single `process` command combines recovery + filtering + compression in one optimized pass
 - **Precise Filtering** — regex topic filtering, time range filtering, and content type filtering with deferred schema/channel writing
+- **Broad Format Coverage** — converts ROS 1 `.bag` and ROS 2 `.db3` to MCAP, exports to NDJSON, CSV, Parquet, PCD, GeoJSON/KML/GPX, and image/video files
 - **Rich Terminal Output** — colored topics, Unicode distribution histograms, tree views, and responsive layouts
 - **Robust Error Handling** — graceful degradation with detailed error reporting and recovery statistics
 
@@ -169,6 +176,27 @@ pymcap-cli tftree data.mcap
 pymcap-cli tftree data.mcap --static-only
 ```
 
+### `tf-export` — TF Tree to URDF / SDF / JSON
+
+Reconstruct robot description files from `/tf_static` (and optionally `/tf` at a
+snapshot timestamp). Useful when the original `.urdf` is missing — Foxglove
+Studio and rviz can render the static skeleton from the exported file.
+
+```bash
+# Write a URDF for the static tree
+pymcap-cli tf-export data.mcap -o robot.urdf
+
+# SDF or JSON instead
+pymcap-cli tf-export data.mcap --format sdf -o robot.sdf
+pymcap-cli tf-export data.mcap --format json
+
+# Capture a dynamic snapshot from /tf at a given time
+pymcap-cli tf-export data.mcap --include-dynamic-at 2024-01-01T10:00:00Z -o snapshot.urdf
+
+# Pick a subtree when the recording has multiple disconnected roots
+pymcap-cli tf-export data.mcap --root base_link -o robot.urdf
+```
+
 ### `diag` — ROS2 Diagnostics
 
 Inspect ROS2 diagnostics with per-component health overview, sparkline timelines, frequency stats, and time-in-state tracking.
@@ -269,6 +297,9 @@ pymcap-cli merge *.mcap -o all_recordings.mcap --compression lz4
 
 # Exclude metadata/attachments
 pymcap-cli merge file1.mcap file2.mcap -o merged.mcap --metadata exclude
+
+# Drop duplicate messages (same channel, log_time, payload) from overlapping inputs
+pymcap-cli merge a.mcap b.mcap -o merged.mcap --dedup-identical
 ```
 
 ### `convert` — Convert DB3 to MCAP
@@ -286,6 +317,43 @@ pymcap-cli convert input.db3 -o output.mcap --distro jazzy
 pymcap-cli convert input.db3 -o output.mcap --extra-path /path/to/msgs
 ```
 
+### `bag2mcap` — Convert ROS 1 Bag to MCAP
+
+Convert ROS 1 `.bag` files to MCAP using the `ros1` profile. Message bytes are
+preserved as raw ROS 1 serialization and schemas use `ros1msg` encoding with
+the full message definition from the bag.
+
+```bash
+# Basic conversion
+pymcap-cli bag2mcap recording.bag -o recording.mcap
+
+# Pick a different compression / chunk size
+pymcap-cli bag2mcap recording.bag -o recording.mcap --compression lz4 --chunk-size 8388608
+```
+
+### `split` — Split into Segments
+
+Split an MCAP file into multiple output segments by duration, explicit
+timestamps, value-change of a message-path expression, or a byte budget per
+segment.
+
+```bash
+# Split every 60 seconds
+pymcap-cli split data.mcap --duration 60s -t "out_{index:03d}.mcap"
+
+# Split at specific RFC3339 timestamps
+pymcap-cli split data.mcap --split-at "2024-01-01T10:00:00Z" --split-at "2024-01-01T10:30:00Z"
+
+# Start a new segment when /gps/fix.status.status changes value
+pymcap-cli split data.mcap -E "/gps/fix.status.status"
+
+# Predicate trigger — split on match/no-match transitions
+pymcap-cli split data.mcap -E "/detections.objects[:]{confidence>0.8}"
+
+# Split when each output reaches roughly 1 GB
+pymcap-cli split data.mcap --max-size 1G -t "shard_{index:03d}.mcap"
+```
+
 ### `rechunk` — Topic-Based Rechunking
 
 Reorganize MCAP messages into separate chunk groups based on topic patterns for optimized playback.
@@ -343,6 +411,73 @@ pymcap-cli list attachments data.mcap
 pymcap-cli list metadata data.mcap
 ```
 
+### `get` — Extract Attachments and Metadata
+
+Extract a single attachment's bytes or a metadata record's key/value map.
+
+```bash
+# Write attachment bytes to a file (or pipe stdout)
+pymcap-cli get attachment --name calib.bin --output calib.bin data.mcap
+pymcap-cli get attachment -n calib.bin data.mcap > calib.bin
+
+# Disambiguate when multiple attachments share a name
+pymcap-cli get attachment --name notes.txt --offset 1234 -o notes.txt data.mcap
+
+# Print a metadata record as JSON (records sharing a name are merged)
+pymcap-cli get metadata --name session data.mcap
+```
+
+### `diff` — Compare Files
+
+Compare MCAP files using summary and message-index timestamps. Reads through the
+footer/summary first and falls back to rebuilding metadata from the data section
+when the summary is missing.
+
+```bash
+# Compare two recordings
+pymcap-cli diff a.mcap b.mcap
+
+# Hide channels with identical timestamps
+pymcap-cli diff a.mcap b.mcap --skip-identical
+
+# Show more timestamp ranges per channel
+pymcap-cli diff a.mcap b.mcap --max-ranges 10
+```
+
+### `duplicates` — Find Duplicate Recordings
+
+Scan files and directories for likely duplicate MCAP recordings using summary
+and message-index fingerprints.
+
+```bash
+# Scan a directory tree
+pymcap-cli duplicates /data/recordings
+
+# Include singleton groups
+pymcap-cli duplicates /data/recordings --all
+
+# Rebuild summaries for files missing them
+pymcap-cli duplicates /data/recordings --rebuild-missing
+```
+
+### `records` — Raw Record Dump
+
+Print every MCAP record in file order using its `repr`. Useful for inspecting
+raw file structure when debugging readers/writers.
+
+```bash
+pymcap-cli records data.mcap
+```
+
+### `topic-chunks` — Topic/Chunk Layout
+
+Show which topics appear in which chunks, sorted by chunk count and percentage
+of total chunks. Helps identify topics that would benefit from `rechunk`.
+
+```bash
+pymcap-cli topic-chunks data.mcap
+```
+
 ### `video` — Video Generation
 
 Generate MP4 videos from image topics using hardware-accelerated encoding. Requires the `video` extra.
@@ -388,6 +523,88 @@ pymcap-cli rosdecompress input.mcap output.mcap --video-format raw
 pymcap-cli rosdecompress input.mcap output.mcap --no-pointcloud
 ```
 
+### `export-images` — Image Files
+
+Export image topics to per-topic folders of image files. `CompressedImage`
+payloads keep their original encoding by default (`--format native`); set
+`--format` to a Pillow format (e.g. `jpeg`, `png`, `webp`) to re-encode. Raw
+`Image` messages always use `--raw-format` (default `png`). Requires the
+`image` extra.
+
+```bash
+# Native passthrough for CompressedImage; PNG for raw Image
+pymcap-cli export-images data.mcap -o ./images -t /camera/front
+
+# Force re-encoding to JPEG for everything
+pymcap-cli export-images data.mcap -o ./images --format jpeg
+```
+
+### `export-csv` — CSV Files
+
+Export an MCAP file to a directory of CSV files (one per topic). Nested fields
+are flattened with dot notation (`pose.position.x`); arrays remain JSON
+strings to preserve row counts. Schemas with raw media payloads (`Image`,
+`CompressedImage`, …) are skipped unless `--include-blobs` is set.
+
+```bash
+pymcap-cli export-csv data.mcap -o ./csv
+pymcap-cli export-csv data.mcap -o ./csv -t /odom -t /imu
+```
+
+### `export-json` — NDJSON / Per-Message JSON
+
+Export an MCAP file to NDJSON (one line per message) or per-message JSON
+files. Default writes one `<topic>.ndjson` per topic; with `--per-message`
+each topic gets a directory of `<log_time_ns>.json` files — handy for
+downstream tools that expect one record per file.
+
+```bash
+# One NDJSON per topic
+pymcap-cli export-json data.mcap -o ./ndjson
+
+# One JSON file per message
+pymcap-cli export-json data.mcap -o ./json --per-message
+```
+
+### `export-parquet` — Parquet Files
+
+Export an MCAP file to a directory of Parquet files (one per topic). Requires
+the `parquet` extra.
+
+```bash
+pymcap-cli export-parquet data.mcap -o ./parquet
+pymcap-cli export-parquet data.mcap -o ./parquet --compression snappy
+```
+
+### `export-pcd` — Point Cloud Files
+
+Export `sensor_msgs/PointCloud2` topics to ASCII PCD v0.7 files
+(`<output>/<safe_topic>/<log_time_ns>.pcd`) — readable by `pcl_viewer`,
+Open3D, and CloudCompare. Requires the `pointcloud` extra.
+
+```bash
+pymcap-cli export-pcd data.mcap -o ./pcd
+pymcap-cli export-pcd data.mcap -o ./pcd -t /lidar/points
+```
+
+### `export-geo` — Map Formats
+
+Export geographic topics (`NavSatFix`, `geographic_msgs/*`) to GeoJSON, KML,
+or GPX. GeoJSON writes one `<topic>.geojson` per topic; KML and GPX produce
+a single `export.{kml,gpx}` covering all topics. Local-frame poses
+(`Odometry`, `geometry_msgs/Pose*`) are out of scope — they need a datum.
+
+```bash
+# Default GeoJSON, track + points per topic
+pymcap-cli export-geo data.mcap -o ./geo
+
+# GPX track every 5th sample
+pymcap-cli export-geo data.mcap -o ./geo --format gpx --mode track --stride 5
+
+# Keep NO_FIX samples too
+pymcap-cli export-geo data.mcap -o ./geo --include-no-fix
+```
+
 ### Shell Autocompletion
 
 ```bash

{pymcap_cli-0.9.0 → pymcap_cli-0.10.0}/README.md

@@ -27,6 +27,7 @@ uv add pymcap-cli[video]
 - **Smart Chunk Copying** — fast chunk copying without decompression when possible, up to 10x faster for filtering operations
 - **Unified Processing** — single `process` command combines recovery + filtering + compression in one optimized pass
 - **Precise Filtering** — regex topic filtering, time range filtering, and content type filtering with deferred schema/channel writing
+- **Broad Format Coverage** — converts ROS 1 `.bag` and ROS 2 `.db3` to MCAP, exports to NDJSON, CSV, Parquet, PCD, GeoJSON/KML/GPX, and image/video files
 - **Rich Terminal Output** — colored topics, Unicode distribution histograms, tree views, and responsive layouts
 - **Robust Error Handling** — graceful degradation with detailed error reporting and recovery statistics
 
@@ -116,6 +117,27 @@ pymcap-cli tftree data.mcap
 pymcap-cli tftree data.mcap --static-only
 ```
 
+### `tf-export` — TF Tree to URDF / SDF / JSON
+
+Reconstruct robot description files from `/tf_static` (and optionally `/tf` at a
+snapshot timestamp). Useful when the original `.urdf` is missing — Foxglove
+Studio and rviz can render the static skeleton from the exported file.
+
+```bash
+# Write a URDF for the static tree
+pymcap-cli tf-export data.mcap -o robot.urdf
+
+# SDF or JSON instead
+pymcap-cli tf-export data.mcap --format sdf -o robot.sdf
+pymcap-cli tf-export data.mcap --format json
+
+# Capture a dynamic snapshot from /tf at a given time
+pymcap-cli tf-export data.mcap --include-dynamic-at 2024-01-01T10:00:00Z -o snapshot.urdf
+
+# Pick a subtree when the recording has multiple disconnected roots
+pymcap-cli tf-export data.mcap --root base_link -o robot.urdf
+```
+
 ### `diag` — ROS2 Diagnostics
 
 Inspect ROS2 diagnostics with per-component health overview, sparkline timelines, frequency stats, and time-in-state tracking.
@@ -216,6 +238,9 @@ pymcap-cli merge *.mcap -o all_recordings.mcap --compression lz4
 
 # Exclude metadata/attachments
 pymcap-cli merge file1.mcap file2.mcap -o merged.mcap --metadata exclude
+
+# Drop duplicate messages (same channel, log_time, payload) from overlapping inputs
+pymcap-cli merge a.mcap b.mcap -o merged.mcap --dedup-identical
 ```
 
 ### `convert` — Convert DB3 to MCAP
@@ -233,6 +258,43 @@ pymcap-cli convert input.db3 -o output.mcap --distro jazzy
 pymcap-cli convert input.db3 -o output.mcap --extra-path /path/to/msgs
 ```
 
+### `bag2mcap` — Convert ROS 1 Bag to MCAP
+
+Convert ROS 1 `.bag` files to MCAP using the `ros1` profile. Message bytes are
+preserved as raw ROS 1 serialization and schemas use `ros1msg` encoding with
+the full message definition from the bag.
+
+```bash
+# Basic conversion
+pymcap-cli bag2mcap recording.bag -o recording.mcap
+
+# Pick a different compression / chunk size
+pymcap-cli bag2mcap recording.bag -o recording.mcap --compression lz4 --chunk-size 8388608
+```
+
+### `split` — Split into Segments
+
+Split an MCAP file into multiple output segments by duration, explicit
+timestamps, value-change of a message-path expression, or a byte budget per
+segment.
+
+```bash
+# Split every 60 seconds
+pymcap-cli split data.mcap --duration 60s -t "out_{index:03d}.mcap"
+
+# Split at specific RFC3339 timestamps
+pymcap-cli split data.mcap --split-at "2024-01-01T10:00:00Z" --split-at "2024-01-01T10:30:00Z"
+
+# Start a new segment when /gps/fix.status.status changes value
+pymcap-cli split data.mcap -E "/gps/fix.status.status"
+
+# Predicate trigger — split on match/no-match transitions
+pymcap-cli split data.mcap -E "/detections.objects[:]{confidence>0.8}"
+
+# Split when each output reaches roughly 1 GB
+pymcap-cli split data.mcap --max-size 1G -t "shard_{index:03d}.mcap"
+```
+
 ### `rechunk` — Topic-Based Rechunking
 
 Reorganize MCAP messages into separate chunk groups based on topic patterns for optimized playback.
@@ -290,6 +352,73 @@ pymcap-cli list attachments data.mcap
 pymcap-cli list metadata data.mcap
 ```
 
+### `get` — Extract Attachments and Metadata
+
+Extract a single attachment's bytes or a metadata record's key/value map.
+
+```bash
+# Write attachment bytes to a file (or pipe stdout)
+pymcap-cli get attachment --name calib.bin --output calib.bin data.mcap
+pymcap-cli get attachment -n calib.bin data.mcap > calib.bin
+
+# Disambiguate when multiple attachments share a name
+pymcap-cli get attachment --name notes.txt --offset 1234 -o notes.txt data.mcap
+
+# Print a metadata record as JSON (records sharing a name are merged)
+pymcap-cli get metadata --name session data.mcap
+```
+
+### `diff` — Compare Files
+
+Compare MCAP files using summary and message-index timestamps. Reads through the
+footer/summary first and falls back to rebuilding metadata from the data section
+when the summary is missing.
+
+```bash
+# Compare two recordings
+pymcap-cli diff a.mcap b.mcap
+
+# Hide channels with identical timestamps
+pymcap-cli diff a.mcap b.mcap --skip-identical
+
+# Show more timestamp ranges per channel
+pymcap-cli diff a.mcap b.mcap --max-ranges 10
+```
+
+### `duplicates` — Find Duplicate Recordings
+
+Scan files and directories for likely duplicate MCAP recordings using summary
+and message-index fingerprints.
+
+```bash
+# Scan a directory tree
+pymcap-cli duplicates /data/recordings
+
+# Include singleton groups
+pymcap-cli duplicates /data/recordings --all
+
+# Rebuild summaries for files missing them
+pymcap-cli duplicates /data/recordings --rebuild-missing
+```
+
+### `records` — Raw Record Dump
+
+Print every MCAP record in file order using its `repr`. Useful for inspecting
+raw file structure when debugging readers/writers.
+
+```bash
+pymcap-cli records data.mcap
+```
+
+### `topic-chunks` — Topic/Chunk Layout
+
+Show which topics appear in which chunks, sorted by chunk count and percentage
+of total chunks. Helps identify topics that would benefit from `rechunk`.
+
+```bash
+pymcap-cli topic-chunks data.mcap
+```
+
 ### `video` — Video Generation
 
 Generate MP4 videos from image topics using hardware-accelerated encoding. Requires the `video` extra.
@@ -335,6 +464,88 @@ pymcap-cli rosdecompress input.mcap output.mcap --video-format raw
 pymcap-cli rosdecompress input.mcap output.mcap --no-pointcloud
 ```
 
+### `export-images` — Image Files
+
+Export image topics to per-topic folders of image files. `CompressedImage`
+payloads keep their original encoding by default (`--format native`); set
+`--format` to a Pillow format (e.g. `jpeg`, `png`, `webp`) to re-encode. Raw
+`Image` messages always use `--raw-format` (default `png`). Requires the
+`image` extra.
+
+```bash
+# Native passthrough for CompressedImage; PNG for raw Image
+pymcap-cli export-images data.mcap -o ./images -t /camera/front
+
+# Force re-encoding to JPEG for everything
+pymcap-cli export-images data.mcap -o ./images --format jpeg
+```
+
+### `export-csv` — CSV Files
+
+Export an MCAP file to a directory of CSV files (one per topic). Nested fields
+are flattened with dot notation (`pose.position.x`); arrays remain JSON
+strings to preserve row counts. Schemas with raw media payloads (`Image`,
+`CompressedImage`, …) are skipped unless `--include-blobs` is set.
+
+```bash
+pymcap-cli export-csv data.mcap -o ./csv
+pymcap-cli export-csv data.mcap -o ./csv -t /odom -t /imu
+```
+
+### `export-json` — NDJSON / Per-Message JSON
+
+Export an MCAP file to NDJSON (one line per message) or per-message JSON
+files. Default writes one `<topic>.ndjson` per topic; with `--per-message`
+each topic gets a directory of `<log_time_ns>.json` files — handy for
+downstream tools that expect one record per file.
+
+```bash
+# One NDJSON per topic
+pymcap-cli export-json data.mcap -o ./ndjson
+
+# One JSON file per message
+pymcap-cli export-json data.mcap -o ./json --per-message
+```
+
+### `export-parquet` — Parquet Files
+
+Export an MCAP file to a directory of Parquet files (one per topic). Requires
+the `parquet` extra.
+
+```bash
+pymcap-cli export-parquet data.mcap -o ./parquet
+pymcap-cli export-parquet data.mcap -o ./parquet --compression snappy
+```
+
+### `export-pcd` — Point Cloud Files
+
+Export `sensor_msgs/PointCloud2` topics to ASCII PCD v0.7 files
+(`<output>/<safe_topic>/<log_time_ns>.pcd`) — readable by `pcl_viewer`,
+Open3D, and CloudCompare. Requires the `pointcloud` extra.
+
+```bash
+pymcap-cli export-pcd data.mcap -o ./pcd
+pymcap-cli export-pcd data.mcap -o ./pcd -t /lidar/points
+```
+
+### `export-geo` — Map Formats
+
+Export geographic topics (`NavSatFix`, `geographic_msgs/*`) to GeoJSON, KML,
+or GPX. GeoJSON writes one `<topic>.geojson` per topic; KML and GPX produce
+a single `export.{kml,gpx}` covering all topics. Local-frame poses
+(`Odometry`, `geometry_msgs/Pose*`) are out of scope — they need a datum.
+
+```bash
+# Default GeoJSON, track + points per topic
+pymcap-cli export-geo data.mcap -o ./geo
+
+# GPX track every 5th sample
+pymcap-cli export-geo data.mcap -o ./geo --format gpx --mode track --stride 5
+
+# Keep NO_FIX samples too
+pymcap-cli export-geo data.mcap -o ./geo --include-no-fix
+```
+
 ### Shell Autocompletion
 
 ```bash

{pymcap_cli-0.9.0 → pymcap_cli-0.10.0}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "pymcap-cli"
-version = "0.9.0"
+version = "0.10.0"
 description = "High-performance Python CLI for MCAP file processing with advanced recovery, filtering, and optimization capabilities"
 readme = "README.md"
 requires-python = ">=3.10"
@@ -28,6 +28,7 @@ classifiers = [
     "Programming Language :: Python :: 3.11",
     "Programming Language :: Python :: 3.12",
     "Programming Language :: Python :: 3.13",
+    "Programming Language :: Python :: 3.14",
     "Topic :: Scientific/Engineering",
     "Topic :: System :: Archiving",
     "Topic :: Utilities",
@@ -36,7 +37,6 @@ classifiers = [
 dependencies = [
     "rich>=14.1.0",
     "small-mcap[compression]",
-    "mcap-codec-support[ros2]",
     "mcap-ros2-support-fast",
     "cyclopts>=4",
     "ros-parser",
@@ -45,22 +45,23 @@ dependencies = [
     "typing-extensions>=4.15.0",
 ]
 
+[project.optional-dependencies]
+all = ["pymcap-cli[video,pointcloud,plot,parquet,image,draco,bridge,xxhash]"]
+lite = ["pymcap-cli[image,draco,bridge,xxhash]"]
+bridge = ["robo-ws-bridge"]
+draco = ["mcap-codec-support[draco]"]
+image = ["pillow>=10.0"]
+parquet = ["pyarrow>=15.0.0", "numpy>=1.24.0", "mcap-codec-support[pointcloud]"]
+plot = ["plotly>=6.0.0"]
+pointcloud = ["mcap-codec-support[pointcloud]"]
+video = ["mcap-codec-support[video]"]
+xxhash = ["xxhash>=3.0.0"]
+
+
 [project.urls]
 Homepage = "https://github.com/mrkbac/robotic-tools"
 Repository = "https://github.com/mrkbac/robotic-tools"
 Issues = "https://github.com/mrkbac/robotic-tools/issues"
-
-[project.optional-dependencies]
-video = ["mcap-codec-support[video]"]
-pointcloud = ["mcap-codec-support[pointcloud]"]
-plot = ["plotly>=6.0.0"]
-parquet = ["pyarrow>=15.0.0", "numpy>=1.24.0", "mcap-codec-support[pointcloud]"]
-image = ["mcap-codec-support[image]"]
-all = ["pymcap-cli[video,pointcloud,plot,parquet,image,draco]"]
-draco = [
-    "mcap-codec-support[draco]",
-]
-
 [build-system]
 requires = ["uv_build>=0.8.9,<0.9.0"]
 build-backend = "uv_build"
@@ -76,3 +77,4 @@ ros-parser = { workspace = true }
 pureini = { workspace = true }
 pointcloud2 = { workspace = true }
 mcap-codec-support = { workspace = true }
+robo-ws-bridge = { workspace = true }