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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:

Voronoi extrusion video

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


Coming soon!




If you use this work, please consider citing as follows:

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



  • SparseLadderGraph completed
  • export planned trajectory for extrusion
  • add parsing function for visualizing saved extrusion trajectories
  • from_data methods for Trajectory and subclasses
  • tagging print processes with ground/creation/connect in the test function
  • infinite pose sampler added for extrusion case when using sparse ladder graph to solve


  • is_any_empty utility function for checking ik sol list of lists
  • reset_ee_pose_gen_fn for easier resetting generator


  • fix nested empty list detection bug in is_any_empty
  • add disabled_collisions argument to the extrusion transition_planner


  • extrusion export save lin_path’s poses as 4x4 tform matrix (there’s some disagreement in quaterion in compas.Frame.from_quat?)
  • move extrusion test fixtures into a separate fixture module
  • ladder graph interface broken into from_cartesian_process_list, from_cartesian_process, from_poses to increase code reuse



  • 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


  • move transition planning to application context.
  • conform to the latest pybullet_planning


  • assembly_datastructure
  • the old module, moved to the test file





  • Initial version

Project details

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