I know Dick did write a short story where aliens of some type disguised themselves as common items like towels, etc. But they were hostile, and some guy gets strangled by them. The people end up leaving the planet, and can take nothing with them, so they run to the rocket ship totally nude.
At least they think it's their rocket ship...
Sounds a bit like Asimov's "Misbegotten Missionary" (aka "Green Patches")...