two_point_forces — DRIVE `pegtactile` op

• Data kinds: table × signal × signal × signal × signal × signal → table

• Call: import fullseye as fs; fs.ledger.two_point_forces(kp, F, M_g, g, tip, axis, mu_grid=None) -> 'dict' (to call the implementation directly, import pegtactile; pegtactile.two_point_forces(kp, F, M_g, g, tip, axis, mu_grid=None) -> 'dict'; from the registry, opsdrive.get("two_point_forces"))

Usage

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

二点接触(Whitney)のレンチを 2 つの接触力と壁の摩擦 μ に分解する(平面、両点が下へ滑る Coulomb の仮定)。

傾きの面(軸の水平成分 e)で、先端の縁は −e 側の壁(法線 = 水平、摩擦 = 上向き)、胴は +e 側の最狭部の縁(法線 = 軸に垂直、摩擦 =

軸の上向き)。各 μ で (f_n1, f_n2) は 3 式(F_e, F_z, M)の最小二乗、残差最小の μ を放物線で詰める(既定の格子 0〜1.5、301 点)。

返り `mu・fn_tip・fn_mouth・resid(N)・p_tip・p_mouth`。

Raises ValueError: 軸が鉛直すぎて傾きの面が決まらない、ベクトルが有限の 3 成分でない、μ の格子が 3 点未満。

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_peg_insertion_tactile — py -3.11 examples/poc_peg_insertion_tactile.py

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

course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same

Same category (`pegtactile`)

pad_params · pad_context · peg_wrench_to_pad_loads · pad_loads_to_peg_wrench · pad_shear_asymmetry · pad_marker_displacement · pad_tactile_frame · pad_tactile_read

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

two_point_forces — DRIVE pegtactile op