1Camera Culture Group, Media Lab, Massachusetts Institute of Technology, 75 Amherst St, Cambridge, MA USA
2Bio/Nano/Programmable Matter Group, Autodesk Research, Autodesk Inc. Pier 9, San Francisco, CA USA
3Self-Assembly Laboratory, Massachusetts Institute of Technology, 265 Massachusetts Ave, Cambridge, MA USA
4Stratasys, ltd. Rehovot Science Park, Rehovot, Israel
5Singapore University of Technology and Design, 20 Dover Dr, Singapore, Singapore
6Bio/Nano/Programmable Matter Group, Autodesk Research, Autodesk Software Co.,Ltd. 399 Pu Dian Road, Shanghai, Pudong District, Shanghai, P. R. China
© The Author(s) 2018
Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.