RFW-S: Everyday Deformable Objects with Independent Simulation Verification

Everyday deformable objects require both broad semantic coverage and physical configurations that can be tested under interaction. We introduce RobotFlyWheel- Soft (RFW-S), a dataset of 100,000 generated assets spanning 485 everyday cat- egories across soft solids, cloth sheets, shells, garments, and bags. Construction connects reference appearances and geometry to structure-aware representations, executable simulator parameters, calibration feedback, and independent testing of the selected configuration. The intersection of physical verification and runtime checks retains 83.4% of the pool and all categories. In an expanded bag experi- ment, an independent stimulus rejects 3.87% of candidate evaluations that satisfy calibration, demonstrating the additional screening provided by testing beyond the fitted interaction. Garment comparisons characterize the effects of combined ma- terial and structural settings; a grasping application exposes the gap between task completion and retained integrity. RFW-S associates semantic coverage with ex- plicit configuration and behavioral evidence, supporting reproducible deformable- object studies within the documented solver and interaction scope.