pegsim op• Data kinds: table → scalar
• Call: import fullseye as fs; fs.ledger.two_point_depth(kp, theta: 'float', model: 'str' = 'exact') -> 'float' (to call the implementation directly, import pegsim; pegsim.two_point_depth(kp, theta: 'float', model: 'str' = 'exact') -> 'float'; from the registry, opsdrive.get("two_point_depth"))
> This operator's description has not been translated yet. The original text follows as it is.
傾き θ [rad] で二点接触が始まる挿入深さ l₂ [m] (最狭部から先端中心まで)。3 つの模型を名前で選ぶ。
`"exact": 3-D の円柱で厳密 l₂ = (2R − r(cos θ + sec θ)) / tan θ(導出 (1′))。"small_angle"`: l₂ = 2c_r / sin θ
(OCW p.9 の l/d = c/θ を半径 clearance で書いたもの)。`"rectangle"`: 2-D の長方形近似 (D − d/cos θ)/tan θ(縁の点の
高さ r sin θ を無視するので θ = 6° で 0.5 mm 浅く出る —— 間違いの量を測るために残す)。
Raises `ValueError`: θ ≤ 0、θ ≥ θ_m_exact(入口にすら入らない)、未知の model。
• 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
• poc_pegsim_insertion — py -3.11 examples/poc_pegsim_insertion.py
scalar as input)spin_from_marker_sequence · carla_transform_matrix · carla_pose_to_world · carla_camera_pose · carla_xy_yaw · carla_scene_load · town_chain · osm_parse
pegsim)peg_params · whitney_clearance · wedging_check · jamming_diagram · chamfer_capture · contact_state_predict · circle_fit_known_radius · cylinder_fit_known_radius
*Provenance: pegsim.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.