pegtactile op• Data kinds: table × text × scalar × scalar × scalar × scalar → table
• Call: import fullseye as fs; fs.ledger.whitney_wrench(kp, state: 'str', theta: 'float', depth: 'float', mu: 'float', fn_tip: 'float', fn_mouth: 'float' = 0.0, g=None) -> 'dict' (to call the implementation directly, import pegtactile; pegtactile.whitney_wrench(kp, state: 'str', theta: 'float', depth: 'float', mu: 'float', fn_tip: 'float', fn_mouth: 'float' = 0.0, g=None) -> 'dict'; from the registry, opsdrive.get("whitney_wrench"))
> This operator's description has not been translated yet. The original text follows as it is.
閉形式の接触レンチ(Whitney の準静的な平面、真値つきの合成): 傾き θ(軸の上端が +x へ)・先端深さ `depth`(口の面から)の
ペグに、`state = "one_point"(先端の縁が −x の壁)/ "mouth"(胴が +x の最狭部の縁)/ "two_point"`(両方)で、法線力
`fn_tip・fn_mouth と下へ滑る Coulomb 摩擦 μ を与える。二点は depth = W + l₂(θ) で胴も縁に触れる(閉形式)。g` は把持点
(省略時は先端から軸に沿って ペグ長 − 8 mm)。返り `F・M_g(把持点まわり)・g・tip・axis・points`。
Raises ValueError: state が語彙の外、θ が (0, π/2) の外、depth・μ・法線力が有限でないか負。
• 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 · pad_tactile_read
*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.