This project was done in an industry/academic collaboration with a small robotics company in Waterloo, Ontario called Entact Robotics.
The two vids below are more or less the same thing. The first one is using the old Entact W5D device in the upright configuration. We initially developed this tool to gain insights about how the inertia properties changed across the device workspace. We built a dynamic model based on the 3D CAD model provided by Entact.
The second video shows the newer generation of the robot where we actually placed it on its side which we found was better for our billiards game. We also adapted the visualization to more accurately reflect what a device with translational and rotational capabilities would feel.