State estimation and control are intimately related processes in robot handling of flexible and articulated objects. While for rigid objects, we can generate a CAD model before-hand and a state estimation boils down to estimation of pose or velocity of the object, in case of flexible and articulated objects, such as a cloth, the representation of the object's state is heavily dependent on the task and execution. For example, when folding a cloth, the representation will mainly depend on the way the folding is executed.