tacsim op• Data kinds: table → table
• Call: import fullseye as fs; fs.ledger.membrane_indent_sphere(hz: 'dict', n: 'int' = 256, fov: 'float' = 0.016) -> 'dict' (to call the implementation directly, import tacsim; tacsim.membrane_indent_sphere(hz: 'dict', n: 'int' = 256, fov: 'float' = 0.016) -> 'dict'; from the registry, opsdrive.get("membrane_indent_sphere"))
Height field h(x, y) = −ū_z(r) [m] of the gel membrane under sphere indentation (from the table of hertz_sphere) and the analytic normals.
> The detailed description below is the original text — the summary and the headings are translated.
n 画素四方、視野 fov [m] (画素ピッチ fov/n)。法線は ū_z の半径微分を中心差分(刻み pitch/4)で取り(−∂h/∂x, −∂h/∂y, 1)/|·|。返り: h(n, n)、normals(n, n, 3)、pitch、X・Y・r(n, n)、contact(r < a の bool)、hz。窓は接触半径の 5 倍以上ないと遠方場の裾で高さの基準が沈む(Raises ValueError: fov < 5a、hz に a/delta/R が無い)。
• 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_knife_tactile_toughness — py -3.11 examples/poc_knife_tactile_toughness.py
• poc_tacsim_elastic_membrane — py -3.11 examples/poc_tacsim_elastic_membrane.py
• poc_tacsim_marker_shear — py -3.11 examples/poc_tacsim_marker_shear.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
tacsim)combined_modulus · hertz_sphere · hertz_force · hertz_cylinder · hertz_surface_uz · hertz_pressure · membrane_indent_shape · membrane_lights
*Provenance: tacsim.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.