[raunaqmb]

Yes, you can 3D print a mold and we release this design tool: https://cad.onshape.com/documents/f3ec62110b01a3ad0fcb6d85/w... You can make whatever 2D shape you want in shape_sketch, as long as it is within the bounding square, and we automatically generate molds with the requisite inlet and outlet channels! It is still in prototype mode and we are working to make it robust, but it generally works and was used to make all the different shapes you see on the website and in the paper.

[raunaqmb]

As for what it is sensing, we learn end to end policies in this case, and allow the neural network can pick up on whatever it needs for the particular task! but we have run experiments with a predecessor of AnySkin, ReSkin: https://reskin.dev that indicate you can localize contact at sub-mm scale as well as sense normal and shear forces!