pegfail op• Data kinds: table × scalar × scalar × scalar → table
• Call: import fullseye as fs; fs.ledger.jamming_force_check(kp, depth: 'float', fx_over_fz: 'float', m_over_rfz: 'float', tol: 'float' = 0.0, side: 'int' = 0) -> 'dict' (to call the implementation directly, import pegfail; pegfail.jamming_force_check(kp, depth: 'float', fx_over_fz: 'float', m_over_rfz: 'float', tol: 'float' = 0.0, side: 'int' = 0) -> 'dict'; from the registry, opsdrive.get("jamming_force_check"))
Whether the measured tip force ratios (F_x/F_z, M/(rF_z)) lie inside Whitney's parallelogram (wraps pegsim.jamming_diagram and adds which edge is nearest and which slanted edge applies to the current contact configuration).
> The detailed description below is the original text — the summary and the headings are translated.
規約(jamming_parallelogram_planar の導出で固定): e_x は「先端が触れている壁から反対側の口の縁へ」向かう水平単位ベクトル、F_x はその向きの成分、F_z は押し込み(下向き)正、M = M⃗·(e_x × e_z)(x 右・z 上の平面で反時計回り正)。この規約で今の配置に効く斜辺は切片 −λ の線(side=-1)。side=+1 は鏡像、side=0 は両方(平行四辺形の全体)。tol は内側判定の余裕(負なら厳しく)。返り: inside、margin(4 辺の最小余裕、負なら外)、edge(最小余裕の辺の名)、margins(dict)、lambda、active_line。Raises ValueError: 力の比が有限でない。
• 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
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
pegfail)insertion_failure_table · insertion_failure_validate · insertion_signature · insertion_failure_classify · insertion_recovery_primitive · jamming_parallelogram_planar · wedging_risk · insertion_stall_detect
*Provenance: pegfail.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.