pegtactile op• Data kinds: scalar × signal × table → table
• Call: import fullseye as fs; fs.ledger.pad_tactile_frame(P: 'float', q_uv, pad: 'dict', ctx=None, noise: 'float' = 0.0, seed: 'int' = 0, torsion: 'float' = 0.0, torsion_model: 'str' = 'partial_slip') -> 'dict' (to call the implementation directly, import pegtactile; pegtactile.pad_tactile_frame(P: 'float', q_uv, pad: 'dict', ctx=None, noise: 'float' = 0.0, seed: 'int' = 0, torsion: 'float' = 0.0, torsion_model: 'str' = 'partial_slip') -> 'dict'; from the registry, opsdrive.get("pad_tactile_frame"))
> This operator's description has not been translated yet. The original text follows as it is.
パッド 1 枚の合成像: Hertz 押し込みの陰影(:func:tacsim.membrane_render_rgb)+ 変位で中心を移したマーカー
(:func:tacslip.membrane_render_markers、補間で歪めない)。`noise` は画素の正規雑音の σ。
返り `rgb(マーカー入り、(n, n, 3))、shading(マーカー無し = 力の読み取り用、実機はマーカーの除去が要る)、pts`
(マーカー中心の真値 [px])、`truth`(P・q・φ・Q・c/a・滑りの印・a・ねじり・ねじりの模型と全滑りの印)。ねじりの場の模型は
`torsion_model(既定 "partial_slip"、:func:pad_marker_displacement`)。Raises ValueError: P ≤ 0、noise < 0、綴り違い。
• Sample-data catalog (download URLs / licences) — 2-D uses skimage.data (BSD/public domain) plus synthetic images; 3-D lists download URLs for real data sources (Stanford, PDS, …).
• Operator provenance and references — the sources of the research/methods this op family came from.
• The canonical algorithm (author, year) and its uses are named in the family usage guide above.
• poc_peg_insertion_tactile — py -3.11 examples/poc_peg_insertion_tactile.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
pegtactile)pad_params · pad_context · peg_wrench_to_pad_loads · pad_loads_to_peg_wrench · pad_shear_asymmetry · pad_marker_displacement · pad_tactile_read · contact_candidates
*Provenance: pegtactile.py — DRIVE operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.