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Using the original frame, I gouged out some foam board, inserted the frame, then covered with self stick foam. The foam board (3/16 inch thick) and foam sheet is available at crafts stores.
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The vinyl, I purchased at a fabric store. My intent is to use this same pattern for the upper door panels for a coordinated look. Gluing, wrapping the hem, and clamping was a timely, multi-step process. I used a razor blade to trim the hem in the corners where it had bunched up.
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The finished product:
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OK, now for some self critique
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The driver's panel will be done a little differently. I will wrap the foam sheet around both sides of the board and extend the ends slightly longer so they stick together and taper off beyond the board edge. I'll glue the vinyl without the the wrapped hem. The foam sheets and vinyl will be trimmed together, leaving an edge about 1/4 inch thick.