(A) Stratasys Connex 500 Multi-Material 3D Printer. (B) Folding primitive in requires two degrees of freedom. One angle is achieved by changing the spaces between the inner disks, which provides a physical stop once the end angle is reached. The second angle is maintained by changing the angles in between two neighboring bars. One can consider it as a rotational shift that changes the plane in which the bars fold. (C) A complete example embedding dynamic primitives of stretching and folding on a grid. This grid can accommodate a self-evolving deformation into a complex structure with both convex and concave parts. (D) Calibration of the folding joints is performed by repeated experiments on a planar hexagon. See Table 1 and Table 2 for angular and temporal measurements. (E) True fabrication measurements of bending elements.