Rename LeafTransforms3D to InstancePoses3D, disable implicit empt…

…y component logging for it (rerun-io#7143)

### What

* Fixes rerun-io#7126
* rename
* talk about 'mesh instancing' for the mesh instancing snippet
* disable "log missing as empty" for `InstancePoses3D`

### Checklist
* [x] I have read and agree to [Contributor
Guide](https://github.com/rerun-io/rerun/blob/main/CONTRIBUTING.md) and
the [Code of
Conduct](https://github.com/rerun-io/rerun/blob/main/CODE_OF_CONDUCT.md)
* [x] I've included a screenshot or gif (if applicable)
* [x] I have tested the web demo (if applicable):
* Using examples from latest `main` build:
[rerun.io/viewer](https://rerun.io/viewer/pr/7143?manifest_url=https://app.rerun.io/version/main/examples_manifest.json)
* Using full set of examples from `nightly` build:
[rerun.io/viewer](https://rerun.io/viewer/pr/7143?manifest_url=https://app.rerun.io/version/nightly/examples_manifest.json)
* [x] The PR title and labels are set such as to maximize their
usefulness for the next release's CHANGELOG
* [x] If applicable, add a new check to the [release
checklist](https://github.com/rerun-io/rerun/blob/main/tests/python/release_checklist)!
* [x] If have noted any breaking changes to the log API in
`CHANGELOG.md` and the migration guide

- [PR Build Summary](https://build.rerun.io/pr/7143)
- [Recent benchmark results](https://build.rerun.io/graphs/crates.html)
- [Wasm size tracking](https://build.rerun.io/graphs/sizes.html)

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full-check`.

crates/store/re_types/definitions/rerun/archetypes/asset3d.fbs

@@ -6,7 +6,7 @@ namespace rerun.archetypes;
 ///
 /// See also [archetypes.Mesh3D].
 ///
-/// If there are multiple [archetypes.LeafTransforms3D] instances logged to the same entity as a mesh,
+/// If there are multiple [archetypes.InstancePoses3D] instances logged to the same entity as a mesh,
 /// an instance of the mesh will be drawn for each transform.
 ///
 /// \example archetypes/asset3d_simple title="Simple 3D asset" image="https://static.rerun.io/asset3d_simple/af238578188d3fd0de3e330212120e2842a8ddb2/1200w.png"

crates/store/re_types/definitions/rerun/archetypes/boxes3d.fbs

@@ -4,9 +4,9 @@ namespace rerun.archetypes;
 
 /// 3D boxes with half-extents and optional center, rotations, colors etc.
 ///
-/// Note that orienting and placing the box is handled via `[archetypes.LeafTransforms3D]`.
+/// Note that orienting and placing the box is handled via `[archetypes.InstancePoses3D]`.
 /// Some of its component are repeated here for convenience.
-/// If there's more leaf transforms than half sizes, the last half size will be repeated for the remaining transforms.
+/// If there's more instance poses than half sizes, the last half size will be repeated for the remaining poses.
 ///
 /// \example archetypes/box3d_simple !api title="Simple 3D boxes" image="https://static.rerun.io/box3d_simple/d6a3f38d2e3360fbacac52bb43e44762635be9c8/1200w.png"
 /// \example archetypes/box3d_batch title="Batch of 3D boxes" image="https://static.rerun.io/box3d_batch/6d3e453c3a0201ae42bbae9de941198513535f1d/1200w.png"
@@ -27,20 +27,20 @@ table Boxes3D (
   /// Optional center positions of the boxes.
   ///
   /// If not specified, the centers will be at (0, 0, 0).
-  /// Note that this uses a [components.LeafTranslation3D] which is also used by [archetypes.LeafTransforms3D].
-  centers: [rerun.components.LeafTranslation3D] ("attr.rerun.component_recommended", nullable, order: 2000);
+  /// Note that this uses a [components.PoseTranslation3D] which is also used by [archetypes.InstancePoses3D].
+  centers: [rerun.components.PoseTranslation3D] ("attr.rerun.component_recommended", nullable, order: 2000);
 
   /// Rotations via axis + angle.
   ///
   /// If no rotation is specified, the axes of the boxes align with the axes of the local coordinate system.
-  /// Note that this uses a [components.LeafRotationAxisAngle] which is also used by [archetypes.LeafTransforms3D].
-  rotation_axis_angles: [rerun.components.LeafRotationAxisAngle] ("attr.rerun.component_optional", nullable, order: 2100);
+  /// Note that this uses a [components.PoseRotationAxisAngle] which is also used by [archetypes.InstancePoses3D].
+  rotation_axis_angles: [rerun.components.PoseRotationAxisAngle] ("attr.rerun.component_optional", nullable, order: 2100);
 
   /// Rotations via quaternion.
   ///
   /// If no rotation is specified, the axes of the boxes align with the axes of the local coordinate system.
-  /// Note that this uses a [components.LeafRotationQuat] which is also used by [archetypes.LeafTransforms3D].
-  quaternions: [rerun.components.LeafRotationQuat] ("attr.rerun.component_optional", nullable, order: 2200);
+  /// Note that this uses a [components.PoseRotationQuat] which is also used by [archetypes.InstancePoses3D].
+  quaternions: [rerun.components.PoseRotationQuat] ("attr.rerun.component_optional", nullable, order: 2200);
 
   /// Optional colors for the boxes.
   colors: [rerun.components.Color] ("attr.rerun.component_recommended", nullable, order: 2300);

crates/store/re_types/definitions/rerun/archetypes/ellipsoids.fbs

@@ -8,9 +8,9 @@ namespace rerun.archetypes;
 /// (e.g. a bounding sphere).
 /// For points whose radii are for the sake of visualization, use [archetypes.Points3D] instead.
 ///
-/// Note that orienting and placing the ellipsoids/spheres is handled via `[archetypes.LeafTransforms3D]`.
+/// Note that orienting and placing the ellipsoids/spheres is handled via `[archetypes.InstancePoses3D]`.
 /// Some of its component are repeated here for convenience.
-/// If there's more leaf transforms than half sizes, the last half size will be repeated for the remaining transforms.
+/// If there's more instance poses than half sizes, the last half size will be repeated for the remaining poses.
 ///
 /// \example archetypes/ellipsoid_batch !api title="Batch of ellipsoids"
 table Ellipsoids3D (
@@ -33,20 +33,20 @@ table Ellipsoids3D (
   /// Optional center positions of the ellipsoids.
   ///
   /// If not specified, the centers will be at (0, 0, 0).
-  /// Note that this uses a [components.LeafTranslation3D] which is also used by [archetypes.LeafTransforms3D].
-  centers: [rerun.components.LeafTranslation3D] ("attr.rerun.component_recommended", nullable, order: 2000);
+  /// Note that this uses a [components.PoseTranslation3D] which is also used by [archetypes.InstancePoses3D].
+  centers: [rerun.components.PoseTranslation3D] ("attr.rerun.component_recommended", nullable, order: 2000);
 
   /// Rotations via axis + angle.
   ///
   /// If no rotation is specified, the axes of the ellipsoid align with the axes of the local coordinate system.
-  /// Note that this uses a [components.LeafRotationAxisAngle] which is also used by [archetypes.LeafTransforms3D].
-  rotation_axis_angles: [rerun.components.LeafRotationAxisAngle] ("attr.rerun.component_optional", nullable, order: 2100);
+  /// Note that this uses a [components.PoseRotationAxisAngle] which is also used by [archetypes.InstancePoses3D].
+  rotation_axis_angles: [rerun.components.PoseRotationAxisAngle] ("attr.rerun.component_optional", nullable, order: 2100);
 
   /// Rotations via quaternion.
   ///
   /// If no rotation is specified, the axes of the ellipsoid align with the axes of the local coordinate system.
-  /// Note that this uses a [components.LeafRotationQuat] which is also used by [archetypes.LeafTransforms3D].
-  quaternions: [rerun.components.LeafRotationQuat] ("attr.rerun.component_optional", nullable, order: 2200);
+  /// Note that this uses a [components.PoseRotationQuat] which is also used by [archetypes.InstancePoses3D].
+  quaternions: [rerun.components.PoseRotationQuat] ("attr.rerun.component_optional", nullable, order: 2200);
 
   /// Optional colors for the ellipsoids.
   colors: [rerun.components.Color] ("attr.rerun.component_recommended", nullable, order: 2300);

crates/store/re_types/definitions/rerun/archetypes/instance_poses3d.fbs

@@ -0,0 +1,41 @@
+namespace rerun.archetypes;
+
+
+/// One or more transforms between the current entity and its parent. Unlike [archetypes.Transform3D], it is *not* propagated in the transform hierarchy.
+///
+/// If both [archetypes.InstancePoses3D] and [archetypes.Transform3D] are present,
+/// first the tree propagating [archetypes.Transform3D] is applied, then [archetypes.InstancePoses3D].
+///
+/// Currently, many visualizers support only a single instance transform per entity.
+/// Check archetype documentations for details - if not otherwise specified, only the first instance transform is applied.
+///
+/// From the point of view of the entity's coordinate system,
+/// all components are applied in the inverse order they are listed here.
+/// E.g. if both a translation and a max3x3 transform are present,
+/// the 3x3 matrix is applied first, followed by the translation.
+///
+/// \example archetypes/instance_pose3d_combined title="Regular & instance transforms in tandem" image="https://static.rerun.io/leaf_transform3d/41674f0082d6de489f8a1cd1583f60f6b5820ddf/1200w.png"
+table InstancePoses3D (
+  "attr.docs.category": "Spatial 3D",
+  "attr.docs.view_types": "Spatial3DView, Spatial2DView: if logged above active projection",
+  "attr.rust.derive": " PartialEq",
+  "attr.rust.generate_field_info"
+) {
+  /// Translation vectors.
+  translations: [rerun.components.PoseTranslation3D] ("attr.rerun.component_optional", nullable, order: 1100);
+
+  /// Rotations via axis + angle.
+  rotation_axis_angles: [rerun.components.PoseRotationAxisAngle] ("attr.rerun.component_optional", nullable, order: 1200);
+
+  /// Rotations via quaternion.
+  quaternions: [rerun.components.PoseRotationQuat] ("attr.rerun.component_optional", nullable, order: 1300);
+
+  /// Scaling factors.
+  scales: [rerun.components.PoseScale3D] ("attr.rerun.component_optional", nullable, order: 1400);
+
+  /// 3x3 transformation matrices.
+  mat3x3: [rerun.components.PoseTransformMat3x3] ("attr.rerun.component_optional", nullable, order: 1500);
+
+  // TODO(andreas): Support TransformRelation?
+  // TODO(andreas): Support axis_length?
+}

crates/store/re_types/definitions/rerun/archetypes/mesh3d.fbs

@@ -6,12 +6,12 @@ namespace rerun.archetypes;
 ///
 /// See also [archetypes.Asset3D].
 ///
-/// If there are multiple [archetypes.LeafTransforms3D] instances logged to the same entity as a mesh,
+/// If there are multiple [archetypes.InstancePoses3D] instances logged to the same entity as a mesh,
 /// an instance of the mesh will be drawn for each transform.
 ///
 /// \example archetypes/mesh3d_indexed title="Simple indexed 3D mesh" image="https://static.rerun.io/mesh3d_simple/e1e5fd97265daf0d0bc7b782d862f19086fd6975/1200w.png"
 /// \example archetypes/mesh3d_partial_updates !api title="3D mesh with partial updates" image="https://static.rerun.io/mesh3d_partial_updates/a11e4accb0257dcd9531867b7e1d6fd5e3bee5c3/1200w.png"
-/// \example archetypes/mesh3d_leaf_transforms3d title="3D mesh with leaf transforms" image="https://static.rerun.io/mesh3d_leaf_transforms3d/c2d0ee033129da53168f5705625a9b033f3a3d61/1200w.png"
+/// \example archetypes/mesh3d_instancing title="3D mesh with instancing" image="https://static.rerun.io/mesh3d_leaf_transforms3d/c2d0ee033129da53168f5705625a9b033f3a3d61/1200w.png"
 table Mesh3D (
   "attr.rust.derive": "PartialEq",
   "attr.docs.category": "Spatial 3D",

crates/store/re_types/definitions/rerun/components/rotation_axis_angle.fbs

@@ -10,7 +10,7 @@ table RotationAxisAngle (
 }
 
 /// 3D rotation represented by a rotation around a given axis that doesn't propagate in the transform hierarchy.
-table LeafRotationAxisAngle (
+table PoseRotationAxisAngle (
   "attr.docs.unreleased",
   "attr.rust.derive": "Default, Copy, PartialEq",
   "attr.rust.repr": "transparent"

crates/store/re_types/definitions/rerun/components/rotation_quat.fbs

@@ -16,7 +16,7 @@ struct RotationQuat (
 ///
 /// Note: although the x,y,z,w components of the quaternion will be passed through to the
 /// datastore as provided, when used in the Viewer, quaternions will always be normalized.
-struct LeafRotationQuat (
+struct PoseRotationQuat (
   "attr.docs.unreleased",
   "attr.rust.derive": "Default, Copy, PartialEq, bytemuck::Pod, bytemuck::Zeroable",
   "attr.rust.repr": "transparent"

crates/store/re_types/definitions/rerun/components/scale3d.fbs

@@ -18,7 +18,7 @@ struct Scale3D (
 /// A scale of 1.0 means no scaling.
 /// A scale of 2.0 means doubling the size.
 /// Each component scales along the corresponding axis.
-struct LeafScale3D (
+struct PoseScale3D (
   "attr.docs.unreleased",
   "attr.rust.derive": "Copy, PartialEq, bytemuck::Pod, bytemuck::Zeroable",
   "attr.rust.repr": "transparent"

crates/store/re_types/definitions/rerun/components/transform_mat3x3.fbs

@@ -61,25 +61,25 @@ struct TransformMat3x3 (
 /// \py However, construction is done from a list of rows, which follows NumPy's convention:
 /// \py ```python
 /// \py np.testing.assert_array_equal(
-/// \py     rr.components.LeafTransformMat3x3([1, 2, 3, 4, 5, 6, 7, 8, 9]).flat_columns, np.array([1, 4, 7, 2, 5, 8, 3, 6, 9], dtype=np.float32)
+/// \py     rr.components.PoseTransformMat3x3([1, 2, 3, 4, 5, 6, 7, 8, 9]).flat_columns, np.array([1, 4, 7, 2, 5, 8, 3, 6, 9], dtype=np.float32)
 /// \py )
 /// \py np.testing.assert_array_equal(
-/// \py     rr.components.LeafTransformMat3x3([[1, 2, 3], [4, 5, 6], [7, 8, 9]]).flat_columns,
+/// \py     rr.components.PoseTransformMat3x3([[1, 2, 3], [4, 5, 6], [7, 8, 9]]).flat_columns,
 /// \py     np.array([1, 4, 7, 2, 5, 8, 3, 6, 9], dtype=np.float32),
 /// \py )
 /// \py ```
 /// \py If you want to construct a matrix from a list of columns instead, use the named `columns` parameter:
 /// \py ```python
 /// \py np.testing.assert_array_equal(
-/// \py     rr.components.LeafTransformMat3x3(columns=[1, 2, 3, 4, 5, 6, 7, 8, 9]).flat_columns,
+/// \py     rr.components.PoseTransformMat3x3(columns=[1, 2, 3, 4, 5, 6, 7, 8, 9]).flat_columns,
 /// \py     np.array([1, 2, 3, 4, 5, 6, 7, 8, 9], dtype=np.float32),
 /// \py )
 /// \py np.testing.assert_array_equal(
-/// \py     rr.components.LeafTransformMat3x3(columns=[[1, 2, 3], [4, 5, 6], [7, 8, 9]]).flat_columns,
+/// \py     rr.components.PoseTransformMat3x3(columns=[[1, 2, 3], [4, 5, 6], [7, 8, 9]]).flat_columns,
 /// \py     np.array([1, 2, 3, 4, 5, 6, 7, 8, 9], dtype=np.float32),
 /// \py )
 /// \py ```
-struct LeafTransformMat3x3 (
+struct PoseTransformMat3x3 (
   "attr.docs.unreleased",
   "attr.rust.derive": "Default, Copy, PartialEq, bytemuck::Pod, bytemuck::Zeroable",
   "attr.rust.repr": "transparent"

crates/store/re_types/definitions/rerun/components/translation3d.fbs

@@ -10,7 +10,7 @@ struct Translation3D (
 }
 
 /// A translation vector in 3D space that doesn't propagate in the transform hierarchy.
-struct LeafTranslation3D (
+struct PoseTranslation3D (
   "attr.docs.unreleased",
   "attr.rust.derive": "Default, Copy, PartialEq, bytemuck::Pod, bytemuck::Zeroable",
   "attr.rust.repr": "transparent"