| --- |
| license: mit |
| task_categories: |
| - robotics |
| - graph-ml |
| tags: |
| - cloth |
| - simulation |
| - mesh |
| - graph-neural-network |
| - point-cloud |
| size_categories: |
| - n<1K |
| --- |
| |
| # Cloth-splatters/lifting-meshes |
|
|
| Synthetic cloth-lifting trajectories for training graph-based dynamics |
| models. The action sampler picks a single vertex and lifts it vertically |
| while the rest of the cloth deforms under gravity. |
|
|
| Currently only the no-hole cloth subset is published; with-hole variants |
| may be added later. |
|
|
| Used by: |
|
|
| - [`Cloth-splatters/lifting-dynamics-gns`](https://huggingface.co/Cloth-splatters/lifting-dynamics-gns) |
| - [`Cloth-splatters/lifting-dynamics-edge-gnn`](https://huggingface.co/Cloth-splatters/lifting-dynamics-edge-gnn) |
|
|
| ## Files |
|
|
| | File | Size | Train / Val cloths | Cameras | |
| |---|---|---|---| |
| | `lift_seed_338.h5` | 540 MB | 30 / 15 | `cam_0` | |
| | `lift_seed_6438.h5` | 524 MB | — | `cam_0` | |
|
|
| Cloth names are of the form `cloth_without_hole_<id>`. |
|
|
| ## Schema |
|
|
| Mostly identical to `folding-meshes`, with one difference: lifting files do |
| **not** carry per-cloth `rest_positions` — only `edges` and `faces`. Use |
| `step_0000/positions` as the initial flat-cloth state if you need a rest |
| configuration. |
|
|
| ``` |
| metadata/rendering_parameters/... |
| training/ |
| <cloth_name>/ |
| edges (E, 2) int32 |
| faces (F, 3) int32 |
| trajectory_<i>/ |
| actuated_vertices (V, 1) float64 |
| goal_vertices (V, 1) float64 |
| step_<n>/ |
| positions (V, 3) float64 |
| velocities (V, 3) float64 |
| gripper_pos (1, 3) float64 |
| pointclouds/cam_0 (N, 3) |
| images/cam_0 (H, W, 3) |
| depth/cam_0 (H, W) |
| segmentation/cam_0 (H, W) |
| validation/... |
| ``` |
|
|
| ## Loading |
|
|
| ```python |
| from huggingface_hub import hf_hub_download |
| path = hf_hub_download( |
| "Cloth-splatters/lifting-meshes", |
| filename="lift_seed_338.h5", |
| repo_type="dataset", |
| ) |
| ``` |
|
|
| ## License |
|
|
| MIT. |
|
|
