sequence and motion planning for robotic spatial extrusion
Project description
pychoreo is a sequence and motion planning engine that allow you to print the following cool structures (and many more!) with ease:
Note :pushpin:
In the summer of 2019, pychoreo will be integrated into the compas_fab infrastructure. Stay tuned! :beers:
The ROS implementation of choreo can be found here: choreo.
Main features
feature
Documentation
Coming soon!
Requirements
Installation
Credits
If you use this work, please consider citing as follows:
- @article{huang2018automated,
title={Automated sequence and motion planning for robotic spatial extrusion of 3D trusses}, author={Huang, Yijiang and Garrett, Caelan R and Mueller, Caitlin T}, journal={Construction Robotics}, volume={2}, number={1-4}, pages={15–39}, year={2018}, publisher={Springer}}
Algorithms behind Choreo:
Automated sequence and motion planning for robotic spatial extrusion of 3D trusses, Constr Robot (2018) 2:15-39, Arxiv-1810.00998
- Applications of Choreo:
Robotic extrusion of architectural structures with nonstandard topology, RobArch 2018, RobArch paper link
Spatial extrusion of Topology Optimized 3D Trusses, IASS 2018, IASS paper link
0.1.1
Added
cartesian process class for modeling general linear movement in the workspace
ladder graph interface using the Cartesian process class
Trajectory class for modeling result trajectory in different contexts (inherited classes)
display_trajectories for extrusion
some simple exceptions added for LadderGraph and DAGSearch
subprocess modeling to have a more detailed control over Cartesian process modeling
add exhaust_iter method to CartisianProcess which resets the generator
add template class GenFn for generating functions
add PrintBufferTrajectory to model approach/retreat trajectories
Changed
move transition planning to application context.
conform to the latest pybullet_planning
Removed
assembly_datastructure
the old extrusion.run module, moved to the test file
Fixed
Deprecated
TODO
need to regulate the use of ik_joints or ik_joint_names for user interfaces
0.0.1
Added
Initial version
Project details
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