pad_loads_to_peg_wrench — DRIVE pegtactile op

• Data kinds: scalar × signal × scalar × signal × table → table

• Call: import fullseye as fs; fs.ledger.pad_loads_to_peg_wrench(PR: 'float', qR, PL: 'float', qL, pad: 'dict', torsion: 'float' = 0.0) -> 'dict' (to call the implementation directly, import pegtactile; pegtactile.pad_loads_to_peg_wrench(PR: 'float', qR, PL: 'float', qL, pad: 'dict', torsion: 'float' = 0.0) -> 'dict'; from the registry, opsdrive.get("pad_loads_to_peg_wrench"))

Usage

Inverse of peg_wrench_to_pad_loads: (P, q) of the 2 pads and the torsion on the membrane (per 1 pad, about gripper x) → wrench that the pads apply to the peg (gripper frame, about the grasp point) and grip force. Torsion on the peg = −2·torsion. Returns F, M (3,), grip = (N_R + N_L)/2. Raises ValueError: q is not 2 finite components, P or torsion is not finite.

References (sample data, literature)

• 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.

Runnable examples (verified samples that actually call this op)

• poc_peg_insertion_tactile — py -3.11 examples/poc_peg_insertion_tactile.py

Ops the type connects to (they accept table as input)

course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same

Same category (pegtactile)

pad_params · pad_context · peg_wrench_to_pad_loads · pad_shear_asymmetry · pad_marker_displacement · pad_tactile_frame · pad_tactile_read · contact_candidates

*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.