Variable Mode Joint Contact - Drop and Catch Mechanism

This example shows a rotating arm that raises up a ball, drops the ball, and catches the ball in one cycle of rotation.

A spherical joint with its mode configured to be provided by input is used to attach and detach the ball from the plate on the end of the arm. Transform sensors are used to measure the motion of the ball and plate to determine when to catch and drop the ball and hence set the mode of the spherical joint.