1. A computer-implemented method for generating an object shape, the method comprising: determining a first target surface and a second target surface; generating, by operation of a computer processor, a surface geometry for a synthetic skin, the surface geometry having an outer surface and an inner surface, wherein the outer surface is generated based on the first target surface, wherein the inner surface is based on one or more thickness parameters representing a thickness distribution of the surface geometry, wherein the thickness parameters comprise one or more parameters indicating a material thickness of the synthetic skin at a given point; and modifying the inner surface based on a computational model such that the outer surface of the surface geometry more closely matches the second target surface when the surface geometry is deformed.