You may benefit from buying a folding board

Yes. Most of the work in folding clothes is in garment positioning. If you can train robot arms to uncrumple a shirt from the wash and position it, you're 90% of the way there.

The folding itself is trivial with a folding board (10% of the work)

https://www.youtube.com/watch?v=AZpkh40AlLE

Even without a folding board, you can do a 2-second pinch

https://www.youtube.com/watch?v=uz6rjbw0ZA0&t=27s

I don't know, this looks great for T-shirts but how about for various undergarments, dresses, pants, sweatpants, jeans, etc?