Egret
Grasshopper plugin for parametric control of uFactory robots, Lite 6, xArm 5, xArm 6, xArm 7, uFactory 850. A node-based robot-programming workflow that emits xArm-Python-SDK and uFactory G-code, plus supports live two-way communication for digital-twin workflows.
New here? Start with Installation,
then Hello World. The whole flow is ~10 minutes.
What you can do
- Design toolpaths in Grasshopper, drop motion components, wire in planes / sliders / Rhino curves, get a RobotTarget sequence.
- Simulate in Rhino, see the arm posed in the viewport, with real STL meshes if you want.
- Generate Python or G-code, Code emits a runnable xArm-Python-SDK script; G-Code emits uFactory-dialect G-code that runs natively on the controller via uFactory Studio's G-code panel.
- Live control, the bridge (a small Python daemon you run on any machine that can reach your robot) lets the plugin push commands and read back state in real time. The Live State component + Sim gives you a Rhino-viewport digital twin.
- Multi-robot, drop a Robot, pick from a dropdown, wire its output into every motion / sim / codegen component to switch which model the math + visuals target.
At a glance
| Plugin file | %AppData%\Grasshopper\Libraries\Egret\Egret.gha |
|---|---|
| Robots supported | Lite 6, xArm 5, xArm 6, xArm 7, uFactory 850 |
| Tab in Grasshopper | uFactory (with 8 sub-categories) |
| Bridge daemon | egret-bridge.exe, ships with the plugin, auto-started by Connect |
The 30-second mental model
- Build a target list. Pose / PTP / LIN / CIR / SPLine / G-Code
Import, each outputs
RobotTargets that flow on wires. - Optionally transform. Frame, Cartesian Offset, Safe Plane, Tool Axis Offset, Custom Tool, Tool (TCP), Blend Radius, re-IK / stamp metadata onto the list.
- Visualize. Sim renders the robot at the last (or all) pose(s). Add the TCP Axes output for an orientation gizmo.
- Output. Code for Python, G-Code for G-code, Save Traj for a portable .ltraj file. OR Live Send to push a single target straight to the robot through the bridge.