The quad A1 was the first robot I built with foam cast feet.  When I did the first feet, I jury rigged a fixture from some old toilet paper rolls to hold things in place while they were curing.  When I went to rebuild with my most recent leg geometry, I figured it was time to get at least a little more serious.  Thus, my new leg casting fixture:

When an insert is cast into place, it is set on one of the trays, the tray is inserted into a slot, and then a weight can be placed on top and constrained by the fixture.

This makes the casting process more repeatable and faster as I scale up production.  As a bonus, it can also be used as a fixture to epoxy the lower leg to the insert: