dora-openarm-dataset-replayer
A dora-rs node that replays an existing OpenArm Dataset.
The node loads one episode from an existing OpenArm Dataset and re-emits its recorded actions, observations, and camera frames as dora outputs. Events are replayed in their original order and at the same timing as the original recording, so downstream nodes see the episode just as it happened.
Install
pip install dora-openarm-dataset-replayer
Examples
This node is meant to be used from a dora-rs dataflow. See the
example/ directory for ready-to-use dataflows that replay
a dataset into MuJoCo and plot the camera streams.
Specify the dataset to replay by setting the DATASET environment
variable of the replayer node in the
dataflow.yaml (use EPISODE to choose a
different episode), then run the
dataflow.yaml:
dora build example/dataflow.yaml
DATASET="..." dora run example/dataflow.yaml
dataflow-classifier.yaml also
has a classifier node that reports whether the replayed task was
completed successfully from ceiling camera and arm observations in
real-time. Set its QUESTION environment variable to the question
used to make that judgment such as "Is there a green spoon inside the
blue case?".
dora build example/dataflow-classifier.yaml
DATASET="..." QUESTION="..." dora run example/dataflow-classifier.yaml
Outputs
Only the outputs present in the dataset are emitted. Each output is sent at the same relative time it was recorded.
| Output | Description |
|---|---|
arm_right_action |
Target joint positions (qpos) for the right arm |
arm_left_action |
Target joint positions (qpos) for the left arm |
arm_right_observation |
Observed qpos, qvel and qtorque when recorded, for the right arm |
arm_left_observation |
Observed qpos, qvel and qtorque when recorded, for the left arm |
lifter_action |
Lifter elevation action |
lifter_observation |
Lifter elevation observation |
camera_wrist_right |
JPEG-encoded right wrist camera frames, with encoding, width and height metadata |
camera_wrist_left |
JPEG-encoded left wrist camera frames, with encoding, width and height metadata |
camera_ceiling |
JPEG-encoded ceiling camera frames, with encoding, width and height metadata |
camera_head_right |
JPEG-encoded right head camera frames, with encoding, width and height metadata |
camera_head_left |
JPEG-encoded left head camera frames, with encoding, width and height metadata |
Command line options
Each option can also be set through the corresponding environment variable.
| Option | Environment variable | Default | Description |
|---|---|---|---|
--dataset |
DATASET |
(required) | Path to the OpenArm Dataset |
--episode |
EPISODE |
0 |
Index of the episode to replay |
License
Licensed under the Apache License 2.0. See LICENSE for details.
Copyright 2026 Enactic, Inc.
Code of Conduct
All participation in the OpenArm project is governed by our Code of Conduct.
Metadata
Release files for dora-openarm-dataset-replayer 0.1.0
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Source distribution (sdist)
| File | Size | Uploaded | |
|---|---|---|---|
| dora_openarm_dataset_replayer-0.1.0.tar.gz | 8.6 kB | Details |
Release files / dora_openarm_dataset_replayer-0.1.0.tar.gz
| Download URL | dora_openarm_dataset_replayer-0.1.0.tar.gz |
|---|---|
| Size | 8.6 kB |
| Tags | Source |
|
SHA-256 checksum How to use checksums |
db7c3acdc95ea36f543753b10cc6348a7f23969bf0b29cf40dc818e6536a6b4f
|
|
BLAKE2b-256 checksum How to use checksums |
fa6b8bfdb087bef2db087a8d14307ff9eddff7dadde6b48684346b050de67722
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/6.1.0 CPython/3.13.12
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Jul 6, 2026.
Transparency log
