---
license: apache-2.0
task_categories:
- robotics
tags:
- robotics
- lerobot
- tsfile
- format:tsfile
- timeseries
pretty_name: Demo2 Frames Grab
size_categories:
- 10K<n<100K
configs:
- config_name: default
  data_files:
  - split: train
    path: data/demo2_frames_grab.tsfile
---





# Demo2 Frames Grab (TsFile)

Apache TsFile version of [`1g0rrr/demo2_frames_grab`](https://huggingface.co/datasets/1g0rrr/demo2_frames_grab).

## Overview

This LeRobot v2.1 dataset records the task “Peel off protective film from adhesive tape.” It uses the `sam_two` robot type and provides numeric robot action and state observations for each frame.

- **Scale:** 64 train episodes, 28,432 frames, one task, sampled at 30 fps.
- **Source videos:** the original dataset has laptop, side, and phone camera streams. Videos are not included in this TsFile dataset; see the [source videos](https://huggingface.co/datasets/1g0rrr/demo2_frames_grab/tree/main/videos).

## Schema (TsFile structure)

- **Time** (INT64, milliseconds) — `round(timestamp * 1000)` for each source frame; time restarts for every episode.
- **episode_index**, **task_index** (TAG) — source episode and task dimensions; query a single episode with `WHERE episode_index=0`.
- **frame_index**, **sample_index** (FIELD, INT64) — source frame index and source `index` (renamed to `sample_index`).
- **action_0** … **action_6** (FIELD, FLOAT) — flattened source `action[7]` vector.
- **observation_state_0** … **observation_state_6** (FIELD, FLOAT) — flattened source `observation.state[7]` vector.

The source `timestamp` column is represented by `Time` and is not retained as a duplicate field. Source vectors are flattened by element index, and their order is preserved.

## Usage

Read `data/demo2_frames_grab.tsfile` with the Apache TsFile Java or Python SDK.

## Source & license

- Original dataset: https://huggingface.co/datasets/1g0rrr/demo2_frames_grab
- Author / publisher: 1g0rrr
- Source format: LeRobot v2.1
- License: Apache-2.0