How do we do sensory play safely at home?

At home, easy options include: (1) texture play with rice, agar jelly, slime, and the like (use food ingredients for children who put things in their mouths); (2) a blanket swing; (3) climbing a mountain of cushions; (4) "sandwich" play where you gently press them between futons. The iron rules are "the child chooses it on their own" and "stop immediately if they dislike it." Forced sensory play backfires.