How did William Blake say that Robert taught him the method of illuminated printing?

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William Blake claimed that the secret of illuminated printing was revealed to him in a vision by his deceased brother, Robert.

According to Blake, Robert taught him to paint his designs and poems onto copper plates using a liquid that was impervious to acid. Once the design was applied, the plate could be etched and printed, allowing Blake to serve as his own compositor, printer, and publisher for his subsequent works, such as Songs of Innocence and Jerusalem.1