algorithmic modeling for Rhino



MUSSEL is a free and open source tool for generating RAPID code for ABB robots.  Most simply, it allows you to generate working code from a list of input planes.

Mussel components, examples and installation instructions (alpha) can be downloaded here:

MUSSEL was developed at GREYSHED ( and the Princeton University School of Architecture and is released under a Creative Commons ShareAlike License.

As they are the robots used by the developer, there are robot and reach envelope components for the ABB IRB 6400 and ABB IRB 7600.  Note that these are completely unrelated to code generation, and are for rendering/reference purposes only (you don't necessarily need robot models to write RAPID).   They are clustered components based around Daniel Piker's lobster definition ( but have been modified to allow for custom tooldata and end effectors, and to also solve for the piston/counterweight components on the robots.

Use of Mussel is at your own risk. I accept no responsibility for damage or injury!  Robots are dangerous: get familiar with the code, run a simulation before physically executing the code, stay outside of the reach envelope, etc...

For other options to create robot models for animation, see Lobster, HAL or Godzilla (

Mussel is intended to be a lightweight, open source option for code generation...and will only have additional features when users/developers decide to add them.  For a more robust and supported option, purchase HAL (

All Mussel components are simply VB script components or clusters. You are encouraged to right click and select "edit script" to see what is going on inside vb components (or explode clusters). Edit the components, create new ones, and upload them to the group page! If you need more RAPID commands, go ahead and make them!

Note:  These components are only useful for ABB robots at the moment.  For a free way of generating URScript, check out Onyx (

Location: Princeton, NJ
Members: 26
Latest Activity: Sep 20, 2023


For all examples, it is assumed that your file units are millimeters and that the robot is located at the origin.

Discussion Forum

Additional robot

Hi thereWe are sharing with you our small contribution to the mussel plugin, in order to simulate an IRB 6620 (actually the ABB robot located in our green fablab, done by Rodion…Continue

Started by Alexandre Dubor Dec 1, 2014.

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