Fabrication. When users are satisfied with their design (structure, movement and animation), they click the fabricate button. This invokes (1) TrussFormer’s hinge generation algorithm, which analyzes the structure’s motion and generates the appropriate 3D printable hinge and hub geometries, annotated with imprinted IDs for assembly. In the case of the T-Rex, the system exports 42 3D printed hubs, consisting of 135 unique hinging pieces. (2) Next, TrussFormer exports the created animation patterns as Arduino code that users upload to their microcontroller. (3) Lastly, it outputs a specification file, containing the force, speed, and motion range of the actuators, in order to achieve the desired animation pattern. Users find these actuators as standardized components.