diff --git a/poetry.lock b/poetry.lock
index 8799e67ca..576d7e600 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.8.4 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.8.5 and should not be changed by hand.
 
 [[package]]
 name = "absl-py"
@@ -1294,6 +1294,10 @@ files = [
     {file = "dora_rs-0.3.6-cp37-abi3-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:78656d3ae1282a142a5fed410ec3a6f725fdf8d9f9192ed673e336ea3b083e12"},
     {file = "dora_rs-0.3.6-cp37-abi3-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:681e22c8ecb3b48d11cb9019f8a32d4ae1e353e20d4ce3a0f0eedd0ccbd95e5f"},
     {file = "dora_rs-0.3.6-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4598572bab6f726ec41fabb43bf0f7e3cf8082ea0f6f8f4e57845a6c919f31b3"},
+    {file = "dora_rs-0.3.6-cp37-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:157fc1fed50946646f09df75c6d52198735a5973e53d252199bbb1c65e1594d2"},
+    {file = "dora_rs-0.3.6-cp37-abi3-manylinux_2_28_armv7l.whl", hash = "sha256:7ae2724c181be10692c24fb8d9ce2a99a9afc57237332c3658e2ea6f4f33c091"},
+    {file = "dora_rs-0.3.6-cp37-abi3-manylinux_2_28_i686.whl", hash = "sha256:3d324835f292edd81b962f8c0df44f7f47c0a6f8fe6f7d081951aeb1f5ba57d2"},
+    {file = "dora_rs-0.3.6-cp37-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:474c087b5e584293685a7d4837165b2ead96dc74fb435ae50d5fa0ac168a0de0"},
     {file = "dora_rs-0.3.6-cp37-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:297350f05f5f87a0bf647a1e5b4446728e5f800788c6bb28b462bcd167f1de7f"},
     {file = "dora_rs-0.3.6-cp37-abi3-musllinux_1_2_i686.whl", hash = "sha256:b1870a8e30f0ac298d17fd546224348d13a648bcfa0cbc51dba7e5136c1af928"},
     {file = "dora_rs-0.3.6-cp37-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:182a189212d41be0c960fd3299bf6731af2e771f8858cfb1be7ebcc17d60a254"},
@@ -4924,6 +4928,8 @@ files = [
     {file = "PyAudio-0.2.14-cp311-cp311-win_amd64.whl", hash = "sha256:bbeb01d36a2f472ae5ee5e1451cacc42112986abe622f735bb870a5db77cf903"},
     {file = "PyAudio-0.2.14-cp312-cp312-win32.whl", hash = "sha256:5fce4bcdd2e0e8c063d835dbe2860dac46437506af509353c7f8114d4bacbd5b"},
     {file = "PyAudio-0.2.14-cp312-cp312-win_amd64.whl", hash = "sha256:12f2f1ba04e06ff95d80700a78967897a489c05e093e3bffa05a84ed9c0a7fa3"},
+    {file = "PyAudio-0.2.14-cp313-cp313-win32.whl", hash = "sha256:95328285b4dab57ea8c52a4a996cb52be6d629353315be5bfda403d15932a497"},
+    {file = "PyAudio-0.2.14-cp313-cp313-win_amd64.whl", hash = "sha256:692d8c1446f52ed2662120bcd9ddcb5aa2b71f38bda31e58b19fb4672fffba69"},
     {file = "PyAudio-0.2.14-cp38-cp38-win32.whl", hash = "sha256:858caf35b05c26d8fc62f1efa2e8f53d5fa1a01164842bd622f70ddc41f55000"},
     {file = "PyAudio-0.2.14-cp38-cp38-win_amd64.whl", hash = "sha256:2dac0d6d675fe7e181ba88f2de88d321059b69abd52e3f4934a8878e03a7a074"},
     {file = "PyAudio-0.2.14-cp39-cp39-win32.whl", hash = "sha256:f745109634a7c19fa4d6b8b7d6967c3123d988c9ade0cd35d4295ee1acdb53e9"},
@@ -5890,27 +5896,27 @@ use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"]
 
 [[package]]
 name = "rerun-sdk"
-version = "0.18.2"
+version = "0.21.0"
 description = "The Rerun Logging SDK"
 optional = false
-python-versions = "<3.13,>=3.8"
+python-versions = ">=3.8"
 files = [
-    {file = "rerun_sdk-0.18.2-cp38-abi3-macosx_10_12_x86_64.whl", hash = "sha256:bc4e73275f428e4e9feb8e85f88db7a9fd18b997b1570de62f949a926978f1b2"},
-    {file = "rerun_sdk-0.18.2-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:efbba40a59710ae83607cb0dc140398a35979c2d2acf5190c9def2ac4697f6a8"},
-    {file = "rerun_sdk-0.18.2-cp38-abi3-manylinux_2_31_aarch64.whl", hash = "sha256:2a5e3b618b6d1bfde09bd5614a898995f3c318cc69d8f6d569924a2cd41536ce"},
-    {file = "rerun_sdk-0.18.2-cp38-abi3-manylinux_2_31_x86_64.whl", hash = "sha256:8fdfc4c51ef2e75cb68d39e56f0d7c196eff250cb9a0260c07d5e2d6736e31b0"},
-    {file = "rerun_sdk-0.18.2-cp38-abi3-win_amd64.whl", hash = "sha256:c929ade91d3be301b26671b25e70fb529524ced915523d266641c6fc667a1eb5"},
+    {file = "rerun_sdk-0.21.0-cp38-abi3-macosx_10_12_x86_64.whl", hash = "sha256:1e454ceea31c70ae9ec1bb26eaa82828661b7657ab4d2261ca0b94006d6a1975"},
+    {file = "rerun_sdk-0.21.0-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:84ecb77b0b5bac71b53e849801ff073de89fcd2f1e0ca0da62fb18fcbeceadf0"},
+    {file = "rerun_sdk-0.21.0-cp38-abi3-manylinux_2_31_aarch64.whl", hash = "sha256:919d921165c3238490dbe5bf00a062c68fdd2c54dc14aac6a1914c82edb5d9c8"},
+    {file = "rerun_sdk-0.21.0-cp38-abi3-manylinux_2_31_x86_64.whl", hash = "sha256:897649aadcab7014b78096f93c84c61c00a227b80adaf0dec279924b5aab53d8"},
+    {file = "rerun_sdk-0.21.0-cp38-abi3-win_amd64.whl", hash = "sha256:2060bdb536a198f0f04789ba5ba771e66587e7851d668b3dfab257a5efa16819"},
 ]
 
 [package.dependencies]
 attrs = ">=23.1.0"
-numpy = ">=1.23,<2"
+numpy = ">=1.23"
 pillow = ">=8.0.0"
 pyarrow = ">=14.0.2"
 typing-extensions = ">=4.5"
 
 [package.extras]
-notebook = ["rerun-notebook (==0.18.2)"]
+notebook = ["rerun-notebook (==0.21.0)"]
 tests = ["pytest (==7.1.2)"]
 
 [[package]]
@@ -7569,4 +7575,4 @@ xarm = ["gym-xarm"]
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.10,<3.13"
-content-hash = "41344f0eb2d06d9a378abcd10df8205aa3926ff0a08ac5ab1a0b1bcae7440fd8"
+content-hash = "ee60d9251f6a6253d0c371707a72a500a6053d7925c6898e6663d9320ad11503"
diff --git a/pyproject.toml b/pyproject.toml
index 59c2de8bc..3351dea2a 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -57,7 +57,7 @@ pytest-cov = {version = ">=5.0.0", optional = true}
 datasets = ">=2.19.0"
 imagecodecs = { version = ">=2024.1.1", optional = true }
 pyav = ">=12.0.5"
-rerun-sdk = ">=0.15.1"
+rerun-sdk = ">=0.21.0"
 deepdiff = ">=7.0.1"
 flask = ">=3.0.3"
 pandas = {version = ">=2.2.2", optional = true}