Deformable cloth assets: towels, linens and garments

Laundry is the task people picture when they think of a home robot, and cloth is what makes it hard: it folds onto itself, hides its corners and never lands the same way twice. Our textile assets are cloth meshes built to the pattern of the real item, with seams, hems and thickness where the real garment has them.

We model single-layer items such as towels, sheets and T-shirts as one cloth surface, and layered garments with each layer as its own surface joined at the seams. Rigid parts such as buttons, rivets and hangers are separate rigid bodies attached to the cloth.