// the find
visose/Robots
Create and simulate ABB, KUKA, UR, and Staubli robot programs.
A Grasshopper/Rhino plugin that generates robot programs for ABB, KUKA, UR, Staubli, Doosan, and Franka Emika arms. It handles forward/inverse kinematics, simulation, collision checking, and exports native robot code (RAPID, KRL, URScript, VAL3, DRL). Aimed at architects and computational designers doing robotic fabrication — not robotics engineers building production systems.
The post-processor coverage is genuinely impressive: nine different robot languages from a single unified target/toolpath model. The kinematics layer is well-structured — separate solvers for offset-wrist, spherical-wrist, and numerical approaches, which matters when you're dealing with different arm geometries. The library is decoupled from Grasshopper (src/Robots is pure C#, no Rhino dependency), so it works in Unity and WPF too. Active maintenance with real hardware remote control via FTP/TCP for ABB, UR, and Franka.
Heavily coupled to Rhino's geometry types — outside the Grasshopper context you're writing adapters (see the MeshPoser abstractions), and the samples show this is still awkward. Test coverage is thin: two robot families tested (ABB and UR), nothing for KUKA, Staubli, or the others. The online robot library relies on a GitHub-hosted XML repo that you don't control — if that goes down or the format changes, robot loading breaks silently. No path planning or obstacle avoidance; it generates programs from explicit targets you feed it, so anything requiring motion planning stays entirely on you.