A Roman legionary's clothing

The video tutorial provides an overview of Roman military attire, including a tunic, braccae, and a scarf. It describes the cingulum belt and pugio dagger, as well as the typical Roman sandals with leather soles and iron studs. Adaptations for colder climates, such as boots, are also discussed. The video concludes with a look at the cloak, which serves as both protection and a blanket, and the subligaculum underwear.

What is the purpose of the cloak mentioned in the text?

What is the name of the underwear mentioned?