swing_up_plan — DRIVE `kendama` op

• Data kinds: table → any

• Call: import fullseye as fs; fs.ledger.swing_up_plan(kp: 'dict', *, lift: 'float' = 0.265, T_lift: 'float' = 0.15, kind: 'str' = 'bang', origin=(0.0, 0.0, 0.0), dodge=(0.0, 0.0, 0.0)) (to call the implementation directly, import kendama; kendama.swing_up_plan(kp: 'dict', *, lift: 'float' = 0.265, T_lift: 'float' = 0.15, kind: 'str' = 'bang', origin=(0.0, 0.0, 0.0), dodge=(0.0, 0.0, 0.0)); from the registry, opsdrive.get("swing_up_plan"))

Usage

> This operator's description has not been translated yet. The original text follows as it is.

手元(皿胴の中心。ひもの支点と大皿はそこから kp の offset だけずれて一緒に動く)の開ループ軌道: `origin から真上へ lift だけ T_lift` 秒で持ち上げ、以後静止。

返り値は t → (3,) の関数(t ≤ 0 で origin、t ≥ T_lift で origin + lift·ẑ で静止)。

`kind="bang": 加速 a = 4·lift/T² を T/2、減速 −a を T/2(速度三角形)。kind="trap"`: 加速・等速・減速を T/3 ずつ

(速度台形、a = 9·lift/(2T²))。玉が昇るには減速の加速度が g を超える必要がある(:func:swing_up_apex が閉形式で答える)。

既定 lift = 0.265 m、T = 0.15 s(a = 47 m/s² ≈ 4.8 g、手元の最高速 3.5 m/s)で玉の頂点は大皿の縁の 4.9 cm 上

(ひもの有効長 0.42 m、大皿の縁は手元の 35 mm 上: :func:swing_up_apex)。

`dodge (3,)(水平): 減速に入って玉が離れた後(bang: T/2 → T、trap: 2T/3 → T)に手元を横へ dodge` だけ逃がす

(S 字の bang-bang)。玉は皿胴の糸穴の真下から真っ直ぐ昇るので、逃がさないと皿胴・小皿を突き抜ける(物理は玉とけん玉の衝突を

解かない —— :func:kendamaworld.kendama_clearance で数える)。逃がした分は :func:catch_plan_ballistic の `clearance` が

玉が大皿の縁より上に出てから戻す。

References (sample data, literature)

• 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.

Runnable examples (verified samples that actually call this op)

• poc_kendama — py -3.11 examples/poc_kendama.py

Ops the type connects to (they accept `any` as input)

course_crank · course_s_curve · course_turnaround · course_slope · course_intersection · course_parallel_parking · course_crossing · course_road

Same category (`kendama`)

kendama_params · elliptic_k_agm · pendulum_period_exact · pendulum_launch_speed · pendulum_rod_simulate · tether_tension_fixed · tether_slack_angle · swing_up_apex

*Provenance: kendama.py — DRIVE operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

swing_up_plan — DRIVE kendama op