pegsim op• Data kinds: table → table
• Call: import fullseye as fs; fs.ledger.jamming_diagram(kp, depth: 'float', fx_over_fz: 'float | None' = None, m_over_rfz: 'float | None' = None) -> 'dict' (to call the implementation directly, import pegsim; pegsim.jamming_diagram(kp, depth: 'float', fx_over_fz: 'float | None' = None, m_over_rfz: 'float | None' = None) -> 'dict'; from the registry, opsdrive.get("jamming_diagram"))
Jamming diagram (OCW p.34): at two-point contact depth l [m], the parallelogram of the region in which the applied force ratios (F_x/F_z, M/(rF_z)) advance the insertion.
> The detailed description below is the original text — the summary and the headings are translated.
λ = l/(2rμ)。頂点は (−1/μ, 2λ+1), (1/μ, −1), (1/μ, −(2λ+1)), (−1/μ, 1)、縦軸の切片 ±λ、縦辺は F_x/F_z = ±1/μ。深さが増える(λ が増える)と縦に広がり、かじりにくくなる。fx_over_fz と m_over_rfz を与えると inside(内側なら進む)と margin(4 辺の不等式の最小の余裕、負なら外)も返す。Raises ValueError: l < 0、μ ≤ 0(摩擦なしは平行四辺形が無限に広い)。
• 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_failure_recovery — py -3.11 examples/poc_peg_failure_recovery.py
• poc_pegsim_insertion — py -3.11 examples/poc_pegsim_insertion.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
pegsim)peg_params · whitney_clearance · two_point_depth · wedging_check · chamfer_capture · contact_state_predict · circle_fit_known_radius · cylinder_fit_known_radius
*Provenance: pegsim.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.