rework serialization format

[edgarriba]

Currently we support recording using rerun rrd files which allows us to easily visualize in rerun the data.

However, the rrd don't have a very strong api to parse the data from python or rust. Ideally, we rewrite the recording tasks using (to be explored)

• Mcap: https://github.com/foxglove/mcap
• Arrow Parquet: https://arrow.apache.org/docs/python/parquet.html

NOTES:

• mcap has stable and user friendly api both in rust and python

• mcap needs a re-export to be visualized in rerun

• mcap can use Foxglove playback (but not rust friendly) for viz

• highly adopted by the robotics community, not others

• arrow-parquet supports both python and rust

• arrow-parquet needs a re-export so that we can visualize in rerun

• several projects are adopting arrow format (rerun, polars, dora, copper)