Dataset accompanying the publication "Towards Clothes Hanging via Cloth Simulation and Deep Convolutional Networks" published in the 10th EUROSIM 2019 Congress. Compressed file with 15000 trials of a simple cloth falling over a hanger. For each trial, the grasping point and the starting position are random, within the following ranges: (-0.01, -0.40, 1.5) to (0.01, 0.40, 1.7). In addition, the generation script was improved to place the pick point on the initial location instead of just placing the bounding box. Each trial contains: exr image with a depth image of the initial state of the cloth, png image of the normalized depth image for visualization and the trajectory in a csv file.