Stiffness of foam is often linked to its density, which is defined by a pound weight. For instance the link a couple of posts above shows a 2 lbs foam, which is the typical soft stuff used in most manufacturer’s belts and shoulder straps, ie not stiff at all.
For any real change in stiffness one needs to go to 6 lbs and beyond. Like this
While it says ‘super high density’ in the auction title it is really just moderately stiff, but I still found it very useful for dual density hip belts and such.
I have ordered 12 lbs density 1/8″ foam from a company called Flex Tech (which btw is also one of the few placed I have been able to source true EvaZote), and that weight class is really stiff.