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Have squares and rectangles precut at your local foam outlet (Image 1). To determine the fabric quantity required for each foam block, measure the circumference of the block and add 2" (Image 2).
Measure the height and add a seam allowance, then cut the fabric to these dimensions. The 2" overlap will be the only seam on the side of the block. Measure the top and bottom of the block, plus seam allowance and cut out these two pieces. Sew the hook-and-loop tape on the two side edges; then sew the sides to the top and bottom pieces.