kendamaworld op• Data kinds: table → table
• Call: import fullseye as fs; fs.ledger.kendama_world(kp: 'dict', *, floor: 'bool' = True, floor_size: 'float' = 4.0, hand=(0.0, 0.0, 1.0), p_ball=None, hang_deg: 'float' = 12.0, hang_dir=(1.0, -1.0, 0.0), subdiv: 'int' = 3, n: 'int' = 32) -> 'dict' (to call the implementation directly, import kendamaworld; kendamaworld.kendama_world(kp: 'dict', *, floor: 'bool' = True, floor_size: 'float' = 4.0, hand=(0.0, 0.0, 1.0), p_ball=None, hang_deg: 'float' = 12.0, hang_dir=(1.0, -1.0, 0.0), subdiv: 'int' = 3, n: 'int' = 32) -> 'dict'; from the registry, opsdrive.get("kendama_world"))
A world of floor + ken (trick pose R_ken from kp, grip point kp["grip"] at hand) + ball with hole + string. Origin on the floor, z up. The ball hangs below the cross-piece's string hole by the effective string length (kp["pendulum_length"]) (swung hang_deg from straight down toward hang_dir — with the diagonal (1, −1), the lateral offset is visible from both cameras at azimuth 0° and 90°). If p_ball is given, the ball is placed there. The floor is split into 0.25 m cells (as 1 large quad, any triangle reaching behind the camera is dropped whole and the floor vanishes). The return value's world["kendama"] = {"ken", "ball", "string"} (indices into objects) + "kp".
• 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_kendama — py -3.11 examples/poc_kendama.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
kendamaworld)ken_mesh · add_ken · ken_set_pose · string_mesh · add_string · string_set · kendama_rig · ken_truth
*Provenance: kendamaworld.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.