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
0.2.0
Added
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
Minor
is_any_empty utility function for checking ik sol list of lists
reset_ee_pose_gen_fn for easier resetting generator
Fixed
fix nested empty list detection bug in is_any_empty
add disabled_collisions argument to the extrusion transition_planner
Changed
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
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
0.0.1
Added
Initial version
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