THULab/makermods_sock_green

Sock Green TsFile

This repository contains the numeric time-series portion of makermods/sock_green, a LeRobot v3.0 SO follower robot dataset for sorting a green sock into the green bin.

Source And Attribution

• Original dataset and author: makermods
• Repository owner and uploader: makermods
• License: Apache-2.0
• Task: sort green sock and put into green bin
• Split: train (0:52), 52 episodes, 23,403 frames, 1 task, 30 fps
• Source shards: 4 Parquet files; source video files: 8 (4 front and 4 wrist)
• Source numeric layout: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• The source repository does not publish a paper, homepage, or citation.

Data Layout

The data/makermods_sock_green.tsfile table is makermods_sock_green. It contains 23,403 rows across 52 episode devices. Time is round(timestamp * 1000) in milliseconds, starts at zero for each episode, and increases within each episode. The source timestamp column is omitted because it is represented by Time / 1000 seconds.

Column	Role	Type	Source mapping
Time	TIME	INT64	round(timestamp * 1000) ms
episode_index, task_index	TAG	STRING	Original int64 columns
frame_index	FIELD	INT64	Preserved
sample_index	FIELD	INT64	Renamed from index
action_0 ... action_5	FIELD	FLOAT	Flattened from action[6]
observation_state_0 ... observation_state_5	FIELD	FLOAT	Flattened from observation.state[6]

The six action and state dimensions are, in order: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, and gripper.pos.

Source Videos

Videos remain exclusively in the original Hugging Face dataset and are not included here. The two source locations are:

• videos/observation.images.front/
• videos/observation.images.wrist/

Both streams are AV1, 640x480, 30 fps, without audio, and use videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4. Use episode_index, frame_index, and the original episode metadata to align numeric samples with frames.

Read Example

from tsfile import TsFileReader

reader = TsFileReader("data/makermods_sock_green.tsfile")
with reader.query_table(
    "makermods_sock_green",
    ["episode_index", "task_index", "frame_index", "sample_index", "action_0"],
    batch_size=65536,
) as result:
    print(result.read_arrow_batch().to_pandas().head())
reader.close()

Citation

The source dataset does not provide a paper or completed citation. Cite the original makermods/sock_green dataset and its repository owner, makermods.