
Deformable tomato
Harvesting
Food is soft, varied and easy to damage. No two tomatoes are the same shape, and the force that holds one can bruise the next. Our food assets come in sets of natural variation in size, shape and ripeness, with stiffness set for each ripeness level.
Firm produce is modeled as soft volumes. Leaves are thin cloth-like surfaces, and dough and other plastic foods use particle methods that let them flow and keep a new shape.

Harvesting

Harvesting

Packing into trays

Grocery packing

Grocery packing

Harvesting

Tray loading

Stretching pizza bases

Portioning
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Physics model