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This paper describes the design and implementation of a humanoid robot system that is capable of simulating deformable objects such as a cloth or a towel. Two key issues of the program system design are discussed: 1) adding dynamics to selected objects at the selected time. 2) the simple API for mesh creation of deformable objects. This system helps users to develop deformable object manipulation and recognition. Finally, a cloth recognition and motion generation carrying a mat using the developed system is presented.
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