openarm-dataset 0.1.0

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OpenArm Dataset

Quick start

Install

pip install openarm_dataset

Sample usage

Basic:

>>> import openarm_dataset
>>> dataset = openarm_dataset.Dataset("tests/data/dataset")
>>> dataset.meta.episodes
[{'id': '0', 'success': False, 'task_index': 0}, {'id': '3', 'success': True, 'task_index': 0}]
>>> dataset.meta.tasks
[{'prompt': 'Run test.', 'description': 'Longer task description if need.'}]
>>> dataset.num_episodes
2

Obs/Action:

>>> obs = dataset.load_obs(0)
>>> obs.keys()
dict_keys(['arms/right_arm/qpos', 'arms/left_arm/qpos'])
>>> obs["arms/right_arm/qpos"]
                                 joint1    joint2    joint3    joint4    joint5    joint6    joint7   gripper
timestamp                                                                                                    
2026-02-25 09:04:11.614229214 -0.039352  0.989118 -0.051771  0.735691  0.077740 -0.070724  0.079488 -0.124674
2026-02-25 09:04:11.618732974 -0.039352  0.989118 -0.051771  0.735691  0.077740 -0.070724  0.079488 -0.124674
...                                 ...       ...       ...       ...       ...       ...       ...       ...
2026-02-25 09:04:14.597666675 -0.296583  0.885962 -0.192270  0.972567  0.194248  0.101626 -0.221057  0.022409

[746 rows x 8 columns]
>>> action = dataset.load_action(0, use_unixtime=True)
>>> action.keys()
dict_keys(['arms/right_arm/qpos', 'arms/left_arm/qpos'])
>>> action["arms/right_arm/qpos"]
                joint1    joint2    joint3    joint4    joint5    joint6    joint7   gripper
timestamp                                                                                   
1.772010e+09 -0.039352  0.989118 -0.051771  0.735691  0.077740 -0.070724  0.079488 -0.124674
1.772010e+09  0.030980  0.991799 -0.166579  0.969511  0.014409  0.143491 -0.189803  0.082215
...                ...       ...       ...       ...       ...       ...       ...       ...
1.772010e+09 -0.007582  1.088525 -0.104895  0.856318  0.134566  0.039683  0.109483 -0.003687

[90 rows x 8 columns]

Camera:

>>> cameras = dataset.load_cameras(0)
>>> cameras.keys()
dict_keys(['left_wrist', 'right_wrist', 'ceiling', 'head'])
>>> cam_head = cameras["head"]
>>> cam_head.num_frames
3
>>> cam_head.load_timestamps()
[1772010251.6187909, 1772010251.629775, 1772010251.6634612]
>>> cam_head.load_frame(0)
(1772010251.6187909, array([[[ 75, 144,  90],
        [133, 216, 128],
        ...,
        [132,  54, 199]],

       ...,

       [[ 90, 146, 117],
        [ 98, 134, 122],
        ...,
        [ 89, 162, 155]]], shape=(600, 960, 3), dtype=uint8))
>>> cam_head.iter_frames()
<generator object CameraData.iter_frames at 0x72a24b36fe60>
>>> cam_head.iter_files()
<generator object CameraData.iter_files at 0x72a24b0289e0>

Sampling:

>>> samples = dataset.samples(hz=30, episode_index=0)
>>> samples
[Sample(timestamp=1772010251.6202147), Sample(timestamp=1772010251.653548)]
>>> samples[0].timestamp
np.float64(1772010251.6202147)
>>> samples[0].obs
{'arms/right_arm/qpos': array([-0.0393523 ,  0.9891182 , -0.05177076,  0.7356907 ,  0.07774002,
       -0.07072392,  0.07948788, -0.1246737 ], dtype=float32), 'arms/left_arm/qpos': array([-0.1239887 , -1.0022309 , -0.23028165,  1.0189891 , -0.11319982,
        0.0516983 , -0.1742104 , -0.04307283], dtype=float32)}
>>> samples[0].action
{'arms/right_arm/qpos': array([ 0.03098021,  0.991799  , -0.16657865,  0.96951085,  0.01440866,
        0.14349142, -0.18980259,  0.08221525], dtype=float32), 'arms/left_arm/qpos': array([ 0.1032669 , -0.86291695,  0.14351352,  0.9478229 ,  0.18431091,
        0.00171096,  0.03923181,  0.11910774], dtype=float32)}
>>> [(name, image.shape) for name, image in samples[0].cameras.items()]
[('left_wrist', (600, 960, 3)), ('right_wrist', (600, 960, 3)), ('ceiling', (600, 960, 3)), ('head', (600, 960, 3))]

>>> samples = dataset.samples(hz=30, episode_index=0, load_camera_data=False)
>>> samples[0].cameras.items()
dict_items([('left_wrist', PosixPath('1772010251620214727.jpeg')), ('right_wrist', PosixPath('1772010251628789283.jpeg')), ('ceiling', PosixPath('1772010251629083055.jpeg')), ('head', PosixPath('1772010251629774985.jpeg'))])

Development

Test

uv sync
uv run pytest

Related links

• 💬 Join the community on Discord
• 📬 Contact us through [e-mail]

License

Licensed under the Apache License 2.0. See LICENSE.txt for details.

Copyright 2026 Enactic, Inc.

Code of Conduct

All participation in the OpenArm project is governed by our Code of Conduct.