algorithmic modeling for Rhino
Scorpion is an open source robotic controller for Industrial Robots currently in beta.
Scorpion contains tools to control and read feedback from universal robots UR10s,
Inverse kinematic solver for universal robots
Direct upload to the robots through TCP/IP
New in version 0.2
Feedback components (to read back the robot statues in real time)
ability to switch between "pose" (more accurate) and "servo rotation" programs.
The tool was created and developed in the AAC “adaptive architecture and computation course, Bartlett school of architecture, UCL, London.
The developing team currently include:
Khaled ElAshry - Vincent Huyghe - Ruairi Glynn
Prof Sean Hanna, DongHan Shin, Olivier Roulet and the bartlett CADCAM team.
You will need to install ghPython first please refer to this link
Then copy the set of clusters from the scorpion/userObjects to your user objects folder (usually C:\Users\(UserName)\AppData\Roaming\Grasshopper\UserObjects).
Use the example file as a start palette for your project
Torurial videos coming soon
The tools are open source and can be directly accessed as clusters from grasshopper. Use at you own risk
For more information and related publications visit
Licensed under Creative Commons Attribution 4.0 International
Download files and example