The iri_twin_staubli_plan_execute_trajectory package allows to plan trajectories in the esautomatix cell for both, simulation in Gazebo and execution in the real robots.

The esautomatix_write_trajectory package allows you to record the trajectories of the two Staubli arms at the same time or for a single arm, to be able to reproduce them afterwards.


industrial robots, manipulators.

Scientific reference

D. Marquès and G. Alenyà. Planning trajectories for the Esautomatix workcell. Technical Report IRI-TR-15-06, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2015.