An apparatus for printing onto a curved surface of a sole structure , the apparatus comprising: a housing , the housing including a base disposed along the bottom of the housing ; a nozzle configured to discharge a composite yarn onto the curved surface; a computing system configured to control a position adjustment of the nozzle and the sole structure ; a first actuating system configured to move the nozzle , wherein the first actuating system moves the nozzle along a direction aligned with a vertical axis , the vertical axis extending normal to a surface of the base , and wherein the first actuating system moves the nozzle along a direction aligned with a first horizontal axis , the first horizontal axis being approximately parallel with respect to the base ; a second actuating system configured to adjust the position of the sole structure with respect to the nozzle , wherein the second actuating system moves the sole structure along a direction parallel to the vertical axis , and wherein the second actuating system moves the sole structure along a direction parallel to the first horizontal axis , the apparatus being configured to attach the composite yarn to the curved surface by moving the nozzle downward toward the curved surface in a direction aligned with the vertical axis ; and the apparatus being configured to attach the composite yarn to the curved surface by moving the nozzle in a direction aligned with the first horizontal axis , the apparatus being configured to attach the composite yarn to the curved surface of the sole structure by moving the sole structure in a direction parallel to the vertical axis , and the apparatus being configured to attach the composite yarn to the curved surface of the sole structure by moving the sole structure in a direction parallel to the first horizontal axis . a housing , the housing including a base disposed along the bottom of the housing ; a nozzle configured to discharge a composite yarn onto the curved surface; a computing system configured to control a position adjustment of the nozzle and the sole structure ; a first actuating system configured to move the nozzle , wherein the first actuating system moves the nozzle along a direction aligned with a vertical axis , the vertical axis extending normal to a surface of the base , and wherein the first actuating system moves the nozzle along a direction aligned with a first horizontal axis , the first horizontal axis being approximately parallel with respect to the base ; a second actuating system configured to adjust the position of the sole structure with respect to the nozzle , wherein the second actuating system moves the sole structure along a direction parallel to the vertical axis , and wherein the second actuating system moves the sole structure along a direction parallel to the first horizontal axis , the apparatus being configured to attach the composite yarn to the curved surface by moving the nozzle downward toward the curved surface in a direction aligned with the vertical axis ; and the apparatus being configured to attach the composite yarn to the curved surface by moving the nozzle in a direction aligned with the first horizontal axis , the apparatus being configured to attach the composite yarn to the curved surface of the sole structure by moving the sole structure in a direction parallel to the vertical axis , and the apparatus being configured to attach the composite yarn to the curved surface of the sole structure by moving the sole structure in a direction parallel to the first horizontal axis . <EOS>