Another important consideration is fabrication, especially for a piece with such complex geometry. For this reason the outer face of each gripper is planar so that it lays flat on a 3D-printer build plate. This minimizes support material, printing time, and post-print modifications. The triangular shape also yields better rigidity, which is helpful since the depth of the water bath requires that the grippers have some distance between the point of actuation and their point of contact with the substrate.