Showcase

BalanceBall

Description: This primitive demonstrates a ball-balancing task. The primitive is robust enough to run different types of sphere-shaped objects. Three types of balls are used for the Flexiv demonstration. 1) Small steel ball - weight: 0.19 kg, friction: 1.471; 2) Large steel ball - weight: 0.3 kg, friction: 1.424; 3) Galaxy ball - weight: 0.6kg, friction 1.201.
Example Usage: Use this primitive to showcase the outstanding performance of Rizon 4S.

Input Parameter	Description	Type	Unit	Default Value & Range
ballWeight*	Weight of the ball. It’s recommended to use a ball heavier than 0.25kg.	DOUBLE	kg	0.3 ∈ [0.25 … 2.5]
ballFricCoeff*	Ball rolling friction coefficient	DOUBLE	none	1.424 ∈ [1.0 … 2.5]
pattenType	Type of the ball rolling trajectory pattern	TYPE	none	CIRCLE ∈ [CIRCLE INFSHAPE]
COPOffsetX*	COP (center of pressure) offset in x direction	DOUBLE	m	0.0 ∈ [-0.1 … 0.1]
COPOffsetY*	COP (center of pressure) offset in y direction	DOUBLE	m	0.0 ∈ [-0.1 … 0.1]
pattenSizeScale	Scale of ball rolling trajectory pattern size	DOUBLE	none	1 ∈ [1 … 3]
freScale	Scale of ball rolling frequency to form a pattern	DOUBLE	none	1 ∈ [0.3 … 1]

*Parameters marked with an asterisk must be assigned a value prior to executing the primitive.

State Parameter	Description	Type	Unit
terminated	The termination flag of the primitive. It is set to true if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

State Parameter	Condition	Value
timePeriod	>	3000