Deformable strawberry
Harvesting
Produce and food
Deformable tomato
A deformable tomato in several sizes and ripeness levels, modeled as a soft FEM body for harvesting and packing robots.
Also called tomatoes or cherry tomato.
FEM soft body
Delivered as USD for NVIDIA Isaac Sim
How is the deformable tomato modeled?
A tomato is a soft volume with a firmer skin and a stiff calyx. We model the flesh as a soft volume with stiffness set per ripeness, from firm green to soft red, so a gripper that is gentle enough for a ripe tomato is easy to tune.
Each set has several shapes and sizes. The asset flags the contact pressure above which a real tomato bruises, so a task can check grasps against it.
Which parts of the deformable tomato deform?
- Flesh
- Soft volume, softer when riper
- Rigid parts
- Calyx and stem
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?
- Harvesting
- Packing into trays
- Gentle grasping
Industries: Agriculture, Food, Retail
Questions
Which simulators does the deformable tomato 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.
