---
license: apache-2.0
task_categories:
  - robotics
tags:
  - robotics
  - manipulation
  - franka
  - isaac-sim
  - cosmos
  - visuomotor
size_categories:
  - n<1K
---

# MCX Card Block Insert - Franka Manipulation Dataset

## Overview

This dataset contains 215 demonstration episodes for the MCX Card Block Insert task
using a Franka Panda robot in Isaac Sim.

## Task Description

The robot must:
1. Grasp a blue block (10cm × 2cm × 1cm)
2. Move and place it on a target platform near MCX network cards

## Dataset Structure

```
├── mcx_card_demos_vla_224.hdf5    # Full dataset with all modalities
├── videos/                         # Extracted video files for Cosmos
│   ├── demo_0_wrist_rgb.mp4
│   ├── demo_0_table_rgb.mp4
│   └── ...
└── metadata.json                   # Episode metadata
```

## Modalities (224×224 resolution)

| Modality | Cameras | Shape | Description |
|----------|---------|-------|-------------|
| RGB | wrist, table | (T, 224, 224, 3) | Color images |
| Depth | wrist, table | (T, 224, 224, 1) | Depth maps |
| Normals | wrist, table | (T, 224, 224, 3) | Surface normals |
| Semantic | wrist, table | (T, 224, 224, 1) | Semantic segmentation |
| Instance | wrist, table | (T, 224, 224, 1) | Instance segmentation |
| Motion Vectors | wrist, table | (T, 224, 224, 2) | Optical flow |

## Robot State

| Observation | Shape | Description |
|-------------|-------|-------------|
| eef_pos | (T, 3) | End-effector position |
| eef_quat | (T, 4) | End-effector orientation |
| gripper_pos | (T, 2) | Gripper finger positions |
| joint_pos | (T, 9) | Joint positions |
| joint_vel | (T, 9) | Joint velocities |
| actions | (T, 7) | 6 DoF pose + 1 gripper |

## Usage for Cosmos Augmentation

### Download dataset
```python
from huggingface_hub import hf_hub_download

# Download HDF5 file
hdf5_path = hf_hub_download(
    repo_id="YOUR_REPO_ID",
    filename="mcx_card_demos_vla_224.hdf5",
    repo_type="dataset"
)

# Download videos for Cosmos
from huggingface_hub import snapshot_download
snapshot_download(
    repo_id="YOUR_REPO_ID",
    repo_type="dataset",
    local_dir="./mcx_demos",
    allow_patterns=["videos/*", "metadata.json"]
)
```

### Use with Cosmos World Foundation Model
```python
# See NVIDIA Cosmos documentation for video-to-video generation
# Videos are in videos/ directory, metadata in metadata.json
```

## Environment

- **Environment**: Franka-Factory-MCXCardBlockInsert-Mimic-v0
- **Robot**: Franka Panda (7 DoF + gripper)
- **Simulator**: NVIDIA Isaac Sim / Isaac Lab
- **Cameras**: wrist_rgb, table_rgb

## Citation

If you use this dataset, please cite Isaac Lab and Franka Factory.

## License

Apache 2.0