Our tutorial is up at the Soft Robotics Toolkit website. It covers how to use an embroidery machine to add a patterned fiber layer to a 3D print, a circuit board, or a thin laser-cut part. It also describes how to use a 3D printed template for installing fibers that are too thick for the embroidery machine to handle. There’s a link to the Inkscape plugin for aligning patterns, plus some nifty alignment pegs Brian Wagner invented if you would rather laser-cut your template than do a large-area 3D print.