3D-WASP Toolpaths Plugin (Grasshopper)

WASP 2025

The WASP Toolpaths Plugin is a suite of computational tools and optimization workflows for Grasshopper, developed to enable architects, designers, and engineers to translate digital designs directly into fabrication-ready toolpaths for the WASP Crane.

The plugin operates by taking finalized geometry and processing it through a structured series of nodes, ensuring that the resulting toolpaths are correctly formatted and optimized for G-code export.

Developed with a “plug-and-play” philosophy, the toolset is designed to integrate seamlessly into existing Grasshopper workflows, or directly importing the geometry into Grasshopper from Rhino. Allowing users to focus on generating meaningful, performative designs, rather than managing the technical complexity of toolpath generation.

The plugin includes a comprehensive design-to-production toolkit, including slicing options, seam location and seam type control, as well as a range of toolpath modification and analytical tools tailored to the WASP crane.

As of June 2025, the plugin has been officially integrated into the WASP Crane software ecosystem and is currently used by architects, designers, and research institutions worldwide.

WASP crane at Itaca
WASP toolpaths plugin – Grasshopper snapshot
Slicers
Change seam location by closest point
Approach curve
Sort curves by Z height, rebuild curves as polylines
Isolators – Used to make specific changes to individual layers or clusters of layers
Overhang analysis tools
Layer & seam visualisers
WASP Crane Gcode exporter – comprised of 3 node clusters that aid in calibrating, visualising, and generating Gcode for the WASP crane.
Basic workflow
Workflow path from importing geometry to exporting Gcode for the WASP crane