tshiamor/mcx-card-demos-vla

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

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

# 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