pegtactile op• Data kinds: any × any × signal × scalar × signal → table
• Call: import fullseye as fs; fs.ledger.equivariance_check(render, op, angles, n: 'int', centre) -> 'dict' (to call the implementation directly, import pegtactile; pegtactile.equivariance_check(render, op, angles, n: 'int', centre) -> 'dict'; from the registry, opsdrive.get("equivariance_check"))
Building block for the equivariance gate: draws the shape rotated by angle θ (render(θ) → image) and checks whether the answer of a perception op (op(画像) → (row, col, orientation)) changes as the group action dictates. Expected: the position rotates by θ about centre = (row, col) and the orientation advances by θ (mod 2π/n; for n = 0 the orientation is not compared). Returns pos_err_px (maximum), ang_err_deg (maximum, shortest distance mod 2π/n, nan if not compared) and rows (per angle). Raises ValueError: render or op is not callable, not even 1 angle or non-finite angles, n < 0, centre does not have 2 components.
• 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.