The foam grips that came with my doorframe pullup bar deteriorated pretty quickly after buying it so I decided to use it as my first 3D modeling project.

These photos are from after about a year of active use. So, they held up pretty well long term but if you don't have any calluses they are a bit uncomfortable to use and dig into your hands.

If I were to print the padding again, I would not use any top or bottom walls because they were the first things to fall apart.

Print Settings:

Material: TPU

Supports: NO

Layer height: .2 (or whatever detail you want)

Infill: 5% on the grips and stopper, 25-30% on the padding