dora-openarm-dataset-replayer 0.1.0

dora-rs node to replay existing OpenArm Dataset in dora-rs dataflow

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.