---
license: other
license_name: rgbench-project-specific-non-commercial
license_link: LICENSE
pretty_name: RGBench Garment Modeling Assets
tags:
  - robotics
  - garment-manipulation
  - deformable-objects
  - 3d-assets
  - benchmark
---

# RGBench Garment Assets — Research Subset

A research subset of the garment asset library from **Real Garment Benchmark (RGBench)**.

- 📄 Paper: [arXiv:2511.06434](https://arxiv.org/abs/2511.06434)
- 🌐 Project page: [rgbench.github.io](https://rgbench.github.io/)
- 📊 Companion dataset: [RGBench-Cloth-Sim2Real-v1](https://huggingface.co/datasets/RGBench/RGBench-Cloth-Sim2Real-v1) — real-world capture data with ground-truth point clouds (CC-BY 4.0)

## Contents

This repository holds a **research subset** of the RGBench industrial garment
asset library.

| Format | Contents |
| --- | --- |
| **OBJ** | Garment geometry, usable in any 3D toolchain |
| **Style3D** | Native garment format carrying garment construction data and measured physical parameters |

These are **source assets**, released as authored and without further processing.

## Physical parameters

Measured physical parameters — stretch stiffness, bending stiffness, area
density, and thickness — are carried in the **Style3D-format files** and can be
read with [Style3D Studio](https://www.style3d.com/). Reference values per
fabric category are also tabulated in the paper.

Scripts for **mesh and physical-parameter parsing**, and for post-processing
these assets for use in physics simulators, will be released on
[GitHub](https://github.com/hwk0809/RGBench).

## Full asset library

The models here are a subset of RGBench's complete industrial garment asset
library (4,000+ models). For access, or to discuss research collaboration and
data licensing, contact **wanghmin@gmail.com**

## Additional garment assets

Other garment datasets that work well alongside RGBench. These are not
redistributed here — please obtain them from their original sources and follow
their respective terms.

- **ClothesNet** (Zhou et al., 2023) — https://sites.google.com/view/clothesnet
  The garment collection described in our paper also draws on ClothesNet meshes,
  which are available directly from the official site.
- **DexGarmentLab** — https://huggingface.co/datasets/wayrise/DexGarmentLab (Apache-2.0)
  USD-format garment assets built on ClothesNet models — a convenient route if
  you need simulator-ready garments for Isaac Sim.
- **GarmageSet** (Style3D) — https://huggingface.co/datasets/Style3D/GarmageSet
  Please cite Li et al., *GarmageNet*, ACM TOG 2025.

## License

The assets in this repository are provided under the custom
[RGBench Project-Specific Non-Commercial Research License](LICENSE). This is
**not** an OSI-approved open-source license — use, redistribution, and
commercial applications are restricted. Please review the full license before
downloading or using the assets.

Other RGBench components are released under different, more permissive licenses:
the [Sim2Real capture dataset](https://huggingface.co/datasets/RGBench/RGBench-Cloth-Sim2Real-v1)
is CC-BY 4.0, and the [RGBench code](https://github.com/hwk0809/RGBench) is MIT.

## Citation

```bibtex
@misc{hu2025realgarmentbenchmarkrgbench,
  title         = {Real Garment Benchmark (RGBench): A Comprehensive Benchmark for Robotic Garment Manipulation featuring a High-Fidelity Scalable Simulator},
  author        = {Wenkang Hu and Xincheng Tang and Yanzhi E and Yitong Li and Zhengjie Shu and Wei Li and Huamin Wang and Ruigang Yang},
  year          = {2025},
  eprint        = {2511.06434},
  archivePrefix = {arXiv},
  primaryClass  = {cs.RO},
  url           = {https://arxiv.org/abs/2511.06434}
}
```