Showcase

BalanceBall

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 and Rizon 10s.

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	[0.25 … 2.5]
ballFricCoeff*	Ball rolling friction coefficient	DOUBLE	none	[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	[-0.1 … 0.1]
COPOffsetY*	COP (center of pressure) offset in y direction	DOUBLE	m	[-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

BalanceGlasses

Description: This primitive demonstrates a wine glasses balancing task. The robot’s balancing pose is adjusted in real time in accordance with the gravitational state of the wine glasses on the tray and the liquid within. The robot TCP moves through each waypoint to reach the target point while keeping the liquid in the wine glasses from spilling. Before executing this primitive, please make sure the robot flange is facing upwards and the tray is placed horizontally. This primitive should be executed in Auto mode.
Example Usage: Use this primitive to showcase the outstanding force control performance of Rizon adaptive robots.

Input Parameter	Description	Type	Unit	Default Value & Range
target*	Target TCP position and the horizontal rotating angle (Rz). TCP pose remains horizontal during robot motion (Rx and Ry are not considered).	COORD	m-deg	[traj_start* world*]
duration	Duration of the whole motion	DOUBLE	s	10.0 ∈ [0.5 … 100]
waypoints	Waypoints between initial and target position. TCP pose remains horizontal during robot motion (Rx and Ry are not considered).	ARRAY_COORD	m-deg	[traj_start* traj_goal* traj_prev* world*]
targetTolerLevel	Tolerance level to determine if the robot has reached the target. 1 means to check with the smallest tolerance, 0 means no tolerance check.	INT	none	0 ∈ [0 … 10]

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

*Coordinate System Definition

Coordinate	Definition	Value Format
world	WORLD coordinate system, which is a fixed Cartesian coordinate system located at the center of the robot base	X Y Z Rx Ry Rz WORLD WORLD_ORIGIN
work	WORK coordinate system, which defines the position of the workpiece relative to the WORLD coordinate system	X Y Z Rx Ry Rz WORK WorkCoordName
tcp	TCP coordinate system, which is located at the Tool Center Point relative to the center of robot flange	X Y Z Rx Ry Rz TCP ONLINE
tcp_start	The fixed coordinate system which is located at the initial TCP pose of the primitive	X Y Z Rx Ry Rz TCP START
traj_start	The offset of a waypoint relative to the initial TCP pose in the TCP coordinate system	X Y Z Rx Ry Rz TRAJ START
traj_goal	The offset of a waypoint relative to the target TCP pose in the TCP coordinate system	X Y Z Rx Ry Rz TRAJ GOAL
traj_prev	The offset of a waypoint relative to the previous waypoint in the TCP coordinate system	X Y Z Rx Ry Rz TRAJ PREVIOUSWAYPOINT

You can use the simplified value format above to describe a waypoint, while the complete description of a Cartesian waypoint is: X Y Z Rx Ry Rz ReferenceCoordinate A1 A2 A3 A4 A5 A6 A7 E1 E2 E3 E4 E5 E6. A1 to A7 are the preferred joint positions of the robot; X1 to X6 are the target positions of external axes. The additional data can be added if necessary.
Add “:” to separate the waypoints. For example: 0.2 0 0.3 0 180 0 WORLD WORLD_ORIGIN : 0.2 0.1 0.3 0 180 0 WORLD WORLD_ORIGIN.

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
reachedTarget	Flag to indicate if the robot has reached the target	BOOL	none
waypointIndex	Index of the current waypoint the robot just passed. 0 means the initial pose.	INT	none

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
reachedTarget	=	1