DeformX-Assets (minimal bundle)

Source/render assets for DeformX, a co-simulation framework for deformable linear objects (DLOs) that couples a Cosserat rod engine with NVIDIA Isaac Sim.

These are the inputs used to render the WireSeg-36k dataset — scene USDs, wire CAD assets, rod trajectories, and environment textures. If you want the rendered images, you want WireSeg-36k instead; this repo is for regenerating or extending the data yourself.

Total size is ~2.1 GB. Everything needed to reproduce the paper's renders is here except the NVIDIA datacenter scene and the Texturelabs ground textures, neither of which we are permitted to redistribute (see What is not here).

Usage

hf download DeformX/DeformX-Assets --repo-type dataset --local-dir ./asset_wireseg36k

cd /path/to/DeformX
export DEFORMX_ASSET_ROOT=/abs/path/to/asset_wireseg36k
python Dataset_generator/cli.py --variant 0 --frame 0 --do_seg --do_depth

DEFORMX_ASSET_ROOT is the only variable you need — see the DeformX README for the rest.

Smaller download

Most of the 2.1 GB is HDRIs and datacenter trajectories. For a ~200 MB subset that still runs the drop/hang generator end to end, restrict the download:

hf download DeformX/DeformX-Assets --repo-type dataset --local-dir ./asset_wireseg36k \
  --include "usd/*" --include "wires_traj_data/*" --include "ground/*" \
  --include "scripts/*" --include "*.md" --include "*.json" \
  --include "background/boiler_room_4k.hdr" \
  --include "background/machine_shop_01_4k.hdr" \
  --include "background/empty_workshop_4k.hdr" \
  --include "background/small_workshop_4k.hdr"

--include takes one pattern per flag. Passing several patterns to a single --include makes the CLI treat all but the first as positional filenames and silently skip them.

Both the HDRI and ground-texture samplers randomize over whatever files are present, so a partial download still renders — you just get less appearance diversity.

Contents

Path	Size	What it is
usd/rod_drop_multi_{2,4,8}_plane.usdc	34 KB	Drop scenes (2/4/8 wires)
usd/rod_hang_flying.usdc	9 KB	Hang scene
usd/wire_usdc/wire_usdc/*.usdc	21 MB	72 wire meshes — 12 colors × 3 radii (r0.001/r0.003/r0.005) × 2 finishes (smooth/rough)
wires_traj_data/*.npz	8.1 MB	Rod trajectories — drop_n{2,4,8} are 100 frames, hang_n{2,4,8} are 200
datacenter/data center camera {1..4}.usdc	32 KB	Datacenter camera rigs
datacenter/data center lights.usdc	4 KB	Shared datacenter light rig
datacenter/data center cable_*.usdc	7.5 MB	Datacenter cable meshes (5 colors)
datacenter/data_grid_clean/dgrid_c{1..4}_ns{04,08,16}.npz	844 MB	All 12 datacenter trajectory configs — camera index cX, wire count nsYY
background/*.hdr	1.2 GB	All 47 HDRI environment maps used in the paper
ground/*.jpg	38 MB	18 ground-plane textures, easy/mid/hard difficulty tiers

manifest.json lists every file with its SHA-256 and size.

What is not here

The NVIDIA datacenter scene. The full datacenter renders in the paper use Datacenter_NVD@10012 (~9.6 GB), an NVIDIA Omniverse content pack governed by the NVIDIA Omniverse License Agreement. We cannot redistribute it. Obtain it from NVIDIA and point --datahall_usd at .../Assets/DigitalTwin/Assets/Datacenter/Facilities/Stages/Data_Hall/DataHall_Full_01.usd.

The drop/hang generator needs nothing from NVIDIA and runs fully from this bundle.

35 of the 53 ground textures. The paper randomizes over 53 ground textures. The 18 Pexels ones are included; the other 35 are from Texturelabs, whose license does not permit redistributing the raw files. Download those directly from Texturelabs if you want the paper's exact randomization. The texture sampler randomizes over whatever is present, so the included 18 still render fine.

All 47 HDRIs are included (Poly Haven, CC0). scripts/fetch_full_backgrounds.py is kept as a convenience for re-fetching them at a different resolution (--resolution 1k|2k|8k).

Provenance and licensing

Group	Origin	License
usd/, wires_traj_data/, datacenter/*.usdc, datacenter/data_grid_clean/	Authored by the DeformX authors	MIT, as with the DeformX repo
background/*.hdr	Poly Haven	CC0
ground/*pexels*.jpg	Pexels	Pexels License

Original photographer names are preserved in the ground/ filenames.

Citation

@inproceedings{deformx,
  title     = {DeformX: A Versatile Co-Simulation Framework for Deformable Linear Objects},
  author    = {Yang, Yi and Fei, Xiang and Wang, Lehong and Li, Chenhao and Dai, Zilin and Kou, Henry and Li, Lu and Choset, Howie},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year      = {2026}
}