Deformable tomato
Harvesting
Produce and food
Deformable peach
A deformable peach or plum, modeled as a soft FEM body around a rigid stone, for packing robots.
Also called plum, nectarine or stone fruit.
FEM soft body
Delivered as USD for NVIDIA Isaac Sim
How is the deformable peach modeled?
A peach is soft flesh around a hard stone. We model the flesh as a soft volume attached to a rigid stone, so it gives under a grip but keeps a firm center.
Plums use the same structure with a smaller, smoother shape.
Which parts of the deformable peach deform?
- Flesh
- Soft volume that gives under a grip
- Rigid parts
- Stone
What ships in the USD?
One USD file per variant, with the render mesh, the simulation geometry and a physics material bound to it. Every value is set and named, so you can open it in NVIDIA Isaac Sim and run your task, or read the numbers into your own solver from the material JSON.
- 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.
Where is it used?
- Packing into trays
- Sorting by size
- Gentle grasping
Industries: Food, Agriculture, Retail
Questions
Which simulators does the deformable peach open in?
It ships as USD for NVIDIA Isaac Sim and Newton. We also deliver MJCF for MuJoCo and Genesis, a GLB mesh, and a JSON file with every material value.
Can it be matched to our real object?
Yes. Send us a sample, a drawing or a few photos and we set size, stiffness and friction to match your part.
How do we get it?
Choose your simulator, format and variant, then tell us where to send it. We prepare the files and email them to you.
