pegtactile op• Data kinds: table × table → table
• Call: import fullseye as fs; fs.ledger.pad_tactile_read(frame: 'dict', pad: 'dict', ctx=None, track=None, pixelwise: 'bool' = True) -> 'dict' (to call the implementation directly, import pegtactile; pegtactile.pad_tactile_read(frame: 'dict', pad: 'dict', ctx=None, track=None, pixelwise: 'bool' = True) -> 'dict'; from the registry, opsdrive.get("pad_tactile_read"))
> This operator's description has not been translated yet. The original text follows as it is.
パッド 1 枚の像 → (P̂, q̂, ねじり)。
P̂ = 陰影 → photometric の法線(:func:tacsim.membrane_recover)→ 接触半径(中心は既知 = パッド中央;`pixelwise` なら
:func:tacsim.contact_radius_fit_pixelwise、偽ならビン版 :func:tacsim.contact_radius_fit = 罠の対照)→ :func:tacsim.hertz_force。
q̂ = マーカー追跡(:func:tacslip.marker_track、`track` で渡せば省く)→ 法線荷重の ūr(P̂ から閉形式)を引く → 2 成分の Mindlin
当てはめ(:func:tacslip.mindlin_fit_vector)。ねじり = 当てはめたせん断場を引いた残りに、固着核(r < 0.6 â)で剛体回転
(:func:tactorque.rigid_rotation_fit)→ M = (16Gâ³/3)ω(Reissner–Sagoci)。第 2 実装 `Q_stick` = 固着核の一様変位 δ̂ を
Mindlin の δx 式で逆に解いた値(μ は較正値)。返り `P・a・q(2,)・Q・phi・torsion・c_over_a・Q_stick`・
`matched・rms_px(当てはめの残差)・track。**Raises** ValueError: frame に rgb・shading` が無い、追跡できたマーカーが 3 未満。
• 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_frame · 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.