busybox_buttons_bimanual

Bimanual SO-101 busybox button-press dataset.

Task: Press the green button with the left arm and then press the yellow button with the right arm.

Provenance

Forked from jamesb123/record_open_lamp_door_15h48m_16-jul-2026.

Changes from the source dataset:

1. Task relabelled — updated task string in meta/tasks.parquet and meta/episodes/ from the original lamp-door task to the busybox button-press task.
2. observation.state reshaped from 27D to 12D — only the 12 joint dimensions (6 per arm) are retained in observation.state. The 15 busybox sensor dimensions have been extracted into a RoboCandyWrapper plugin sidecar at candywrapper_plugins/busybox_state/.
3. Metadata updated — meta/info.json, meta/stats.json, and episodes parquet stat columns all reflect the 12D state shape.

Busybox State Plugin

The 15 busybox sensor dimensions are available via the BusyboxStatePlugin RoboCandyWrapper plugin:

Index	Sensor Name
0	bottom_switch
1	top_switch
2	blue_wire
3	green_wire
4	red_wire
5	yellow_wire
6	bottom_slider
7	bottom_slider_raw
8	top_slider
9	top_slider_raw
10	green_button
11	red_button
12	white_button
13	yellow_button
14	knob

Dataset Details

• Robot: SO-101 (bimanual)
• Episodes: 50
• Frames: 16,966
• observation.state: 12D (6 joints × 2 arms)
• action: 12D (6 joints × 2 arms)
• Cameras: top, left_wrist, right_wrist
• Format: LeRobot v3.0