Egret

Learn Egret on YouTube, one short video at a time.

The Egret Tutorials series takes you from your first simulated pose to a live pick-and-place cell. Most videos come with the exact Grasshopper file shown on screen, ready to download and follow along.

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The tutorial series

Brand new? Start with the install video, then work through the lessons in order. Click any thumbnail to play it right here.

Install Egret in Rhino & Grasshopper

Start here: download from Food4Rhino, drop the .gha into your Grasshopper libraries, unblock it, and load the Egret tab.

Written install guide →

Connect + live control of a uFactory robot

Get the bridge running and drive a real arm live from Grasshopper.

Live walkthrough, no companion file.

Pose, Stage, Robot & Workspace

The core simulation loop: place a Pose, wire it into Stage, pick your Robot, and check the reachable workspace.

Download .gh ↓

Connect & live-jog a uFactory robot

Connect to the arm and hand-jog it, joint by joint, straight from the canvas.

Download .gh ↓

Curve toolpaths: PTP vs LIN & path reduction

Drive motion from curves, compare point-to-point and linear paths, then reduce a path to clean targets.

Download .gh ↓

Tool TCP offset: your end-effector's working point

Set the Tool Center Point so every move aims at the tool tip, not the bare flange.

Download .gh ↓

Merge, lead-in/out & a vacuum gripper

Merge target streams, add approach and retract moves, and toggle a vacuum gripper.

Download .gh ↓

Digital outputs & saving code

Fire digital outputs at the right moments, then generate and save the robot code.

LED Out .gh ↓

See it all come together

A full application, start to finish.

Pick & place + collision-aware pathing

Build a complete pick-and-place cell on a uFactory arm, with collision checking woven into the path.

Pick & Place .ghx ↓

Prefer to read?

The full docs & wiki cover every component and workflow in writing.

Robot arm basics →

New to arms? TCP, PTP, LIN, explained.

Hello World →

The fastest path to a posed robot.

Component reference →

All 79 components, documented.