Getting started

Start with a simple shape and preview its toolpath in Rhino. This exercise takes you through the core components before you connect your Duet robot directly.

Install and open the plugin

Follow Installation, then open Grasshopper and find the Lugworm tab. Its numbered groups follow the work from slicing to printing. The Component Map shows where each component fits.

1. Make your first toolpath

Use a Rhino document in millimetres for this example. Add the components below by searching for their full names, including Lugworm.

  1. Create a sample. Add Test Geometry and choose a cylinder. Connect its geometry output to geo on Slice.
  2. Slice it. Set mode to 0 for planar layers and choose a layerHeight. Click Slice’s compute button, then connect a Panel to info and read the report.
  3. Place the layers. Connect Slice’s contours to contours on Place. Set printCenter to the point where you want the part’s bottom centre.
  4. Choose a preview profile. Add Robot Definition and select none. Connect its profile to the robot inputs on G-code Generator and Robot Simulation. This gives you a toolpath preview without an arm model.
  5. Generate G-code. Connect Place’s moved to crvs on G-code Generator. Match its layerHeight to Slice and set the layer width. Leave savePath empty for this preview. Click compute and read info.
  6. Review the result. Connect Generator’s gcode to Robot Simulation. Move sim from 0 to 1 to inspect the extrusion and travel moves.

You should now see a placed, layered cylinder and be able to step through its toolpath. These settings are a preview exercise; choose your machine profile and calibrate material settings before printing.

2. Working with the components

  • Compute buttons: Slice and G-code Generator run when you click compute. Recompute after changing their inputs, and read their info outputs.
  • Optional inputs: right-click a component to enable the input groups you need. Each component reference lists those groups.
  • Layer trees: keep the branches from Slice through Place to Generator. For multiple objects, branches use {object; layer}. Flattening removes that grouping.
  • Machine profiles: connect Robot Definition explicitly. An unwired Generator uses the laboratory SCARA frame, including mirrored X/Y axes.

Continue from here

Use Save G-code to write a reviewed file. The Workflows page shows the slicing and DoE workflows on the canvas. For individual inputs and outputs, open the component reference.