Polyurethane packing foam is what you're looking for, it does come in different firmness levels. I'm not sure what to look for in terms of firmness when buying online, I've only ever bought it from rubber suppliers by going into the store and having a feel of the different options and buying the one I find best.
If you want pluck foam, that's just polyurethane packing foam that has been pre-cut into squares so you can easily pluck out squares to fit an object, if the plucking aspect isn't something you need then you can just buy big sheets of the stuff that isn't pre-cut.
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