In the medieval period luxury castles were built with indoor toilets known as 'garderobes', and the waste dropped into a pit below. It was the job of the 'Gongfarmer' to remove it – one of the smelliest jobs in history?
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Castle toilets, also known as garderobes or latrines, would have a plank of wood with a hole held on stone supports through which waste could be deposited.
The bathing itself consisted of washing the body with sweet smelling oils, or if they could afford it, tallow soap. If they had lots of money, or say, were a Lord or Lady in a castle, they'd 'top and tail' at least twice a day.
It turns out that those fairy tales you read as a child all left out a very important truth: The moats that surrounded medieval castles weren't just useful defenses against attack; they were also open sewers into which the castles' primitive waste disposal systems flushed human excrement and other foul substances.
The Vikings used wool. The Colonial Americans used the core center cobs from shelled ears of corn. The Mayans used corn cobs. The French invented the first bidet (of course without of modern plumbing).