Deformable kitchen sponge
Dishwashing
Deformable soft body assets: foam, sponges, pillows and cushions
Squeeze a sponge and it comes back. Objects like this are solid all the way through, so we model them as volumes: a tetrahedral mesh inside the object, with the visible surface carried along by it. The finite element method then works out how the volume compresses, bulges and springs back.
Stiffness and damping are set from press tests on real samples of each material, so a soft foam and a dense one feel different in a gripper. Objects with a fabric skin, such as cushions, add a cloth layer over the foam body.
Deformable foam block
Packing items into foam
Deformable pillow
Bed making
Deformable stress ball
Dexterity benchmarks
Deformable sofa cushion
Tidying a sofa
Deformable rubber ball
Sorting balls
Deformable silicone baking mat
Laying a mat on a tray
Deformable yoga mat
Rolling and unrolling
Deformable mattress topper
Bed making
Deformable rubber glove
Lab handling
A glimpse of the catalog
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Physics model
- FEM soft body
- A tetrahedral volume solved with the finite element method, with the visible surface carried by it. Used for foam, rubber and soft food.
- Cloth
- A triangle surface with stretch, shear and bending stiffness and a thickness. Used for towels, sheets and garments.