  Benchmarking of robotic manipulations is one of the open issues in robotic
research. An important factor that has enabled progress in this area in the
last decade is the existence of common object sets that have been shared among
different research groups. However, the existing object sets are very limited
when it comes to cloth-like objects that have unique particularities and
challenges. This paper is a first step towards the design of a cloth object set
to be distributed among research groups from the robotics cloth manipulation
community. We present a set of household cloth objects and related tasks that
serve to expose the challenges related to gathering such an object set and
propose a roadmap to the design of common benchmarks in cloth manipulation
tasks, with the intention to set the grounds for a future debate in the
community that will be necessary to foster benchmarking for the manipulation of
cloth-like objects. Some RGB-D and object scans are also collected as examples
for the objects in relevant configurations. More details about the cloth set
are shared in
http://www.iri.upc.edu/groups/perception/ClothObjectSet/HouseholdClothSet.html.
