Table 2: Experimental environments and parameters by each result. In the case of [Figure 6], we did not define the resolution of the cloth model because it is not regular.

Figure #	Resolution of cloth	# of point	Total mass (g)	Scaling factor of adhesion force
Figure 5	60 × 60	3,600	662	2
Figure 6	-	3,077	566	3
Figure 7	50 × 50	2,500	460	1.5
Figure 8	40 × 40	1,600	294	1
Figure 9	20 × 20	800	147	1