pegtactile op• Data kinds: none → table (an op determined by its arguments alone — it takes no image or data input)
• Call: import fullseye as fs; fs.ledger.pad_params(R: 'float' = 0.02, E: 'float' = 3000000.0, nu: 'float' = 0.48, mu: 'float' = 1.0, grip: 'float' = 4.0, w: 'float' = 0.005, grasp_below_top: 'float' = 0.008, fov: 'float' = 0.016, n: 'int' = 256, marker_pitch: 'float' = 0.0005, marker_r_px: 'float' = 2.5, dark: 'float' = 0.85, peg_mass: 'float' = 0.04, com_below_top: 'float' = 0.01425) -> 'dict' (to call the implementation directly, import pegtactile; pegtactile.pad_params(R: 'float' = 0.02, E: 'float' = 3000000.0, nu: 'float' = 0.48, mu: 'float' = 1.0, grip: 'float' = 4.0, w: 'float' = 0.005, grasp_below_top: 'float' = 0.008, fov: 'float' = 0.016, n: 'int' = 256, marker_pitch: 'float' = 0.0005, marker_r_px: 'float' = 2.5, dark: 'float' = 0.85, peg_mass: 'float' = 0.04, com_below_top: 'float' = 0.01425) -> 'dict'; from the registry, opsdrive.get("pad_params"))
> This operator's description has not been translated yet. The original text follows as it is.
指先パッドの表: ドームの半径 R、ゲルの E・ν、パッドとペグの摩擦 μ、把持力 G₀ [N]、指の半間隔 w(ペグの平取りの半幅)、
把持点のペグ上端からの距離、膜カメラの視野と画素数、マーカー(ピッチ・半径 [px]・濃さ)、ペグの質量と重心(pegfail の既定と同じ)。
寸法の根拠: G₀ = 4 N で a ≈ 2.5 mm(a/R 0.13、Hertz の範囲)、視野 16 mm ≥ 5a(tacsim の窓の条件)、マーカー 0.5 mm = 8 px。
返りに Hertz の複合弾性率 `Es・せん断弾性率 G・画素ピッチ pitch・把持だけの接触半径 a_grip` を足す。
Raises ValueError: 正であるべき量が正でない、ν が [0, 0.5] の外、n < 64、マーカー間隔が 4 px 未満、
把持力の 1.5 倍で視野が 5a に足りない。
• 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_context · peg_wrench_to_pad_loads · pad_loads_to_peg_wrench · pad_shear_asymmetry · pad_marker_displacement · pad_tactile_frame · 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.