CURVLABS | BRIAN HARMS » [S]GSC | DigitAG& journal |

[S]GSC (Staubli Grasshopper Simulation and Control) is a set of Grasshopper tools that allow users to simulate control a range of Staubli 6-axis robot arms. [S]GSC contains a highly customized IK solver, visual simulator, diagnostic tool, and code generator. Developed by Brian Harms ( with help from Brandon Kruysman and Jon Proto ( and Andrew Atwood (

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