pegtactile op• Data kinds: table × table → table
• Call: import fullseye as fs; fs.ledger.pad_tactile_read(frame: 'dict', pad: 'dict', ctx=None, track=None, pixelwise: 'bool' = True, torsion_model: 'str' = 'partial_slip') -> 'dict' (to call the implementation directly, import pegtactile; pegtactile.pad_tactile_read(frame: 'dict', pad: 'dict', ctx=None, track=None, pixelwise: 'bool' = True, torsion_model: 'str' = 'partial_slip') -> 'dict'; from the registry, opsdrive.get("pad_tactile_read"))
Image of 1 pad → (P̂, q̂, torsion).
> The detailed description below is the original text — the summary and the headings are translated.
P̂ = 陰影 → photometric の法線(tacsim.membrane_recover)→ 接触半径(中心は既知 = パッド中央;pixelwise なら tacsim.contact_radius_fit_pixelwise、偽ならビン版 tacsim.contact_radius_fit = 罠の対照)→ tacsim.hertz_force。q̂ = マーカー追跡(tacslip.marker_track、track で渡せば省く)→ 法線荷重の ūr(P̂ から閉形式)を引く → 2 成分の Mindlin 当てはめ(tacslip.mindlin_fit_vector)。ねじり = 当てはめたせん断場を引いた残りに、固着核(r < 0.6 â)で剛体回転(tactorque.rigid_rotation_fit)→ 無滑りの関係 M = (16Gâ³/3)ω(Reissner–Sagoci)が torsion_no_slip。★torsion_model="partial_slip"(既定、2026-10-06 から)では、それを部分滑りの数値解(cuttouch.torsion_partial_slip の from_no_slip_read)で直した値を torsion に返す —— Hertz 接触のねじりは縁から必ず滑るので、無滑りの関係のままだと M を過大に読む(全滑りまでの比 0.5 で +33 %、0.8 で +85 %)。"no_slip" は 0.4.0 までの値(torsion = torsion_no_slip)。torsion_c_over_a(固着円の半径 / a)と torsion_readable(固着円が当てはめの核 r < 0.6a を含み全滑りでない —— 偽なら数は返すが当てにならない)も返す。第 2 実装 Q_stick = 固着核の一様変位 δ̂ を Mindlin の δx 式で逆に解いた値(μ は較正値)。返り P・a・ q(2,)・Q・phi・torsion・torsion_no_slip・torsion_model・torsion_c_over_a・torsion_readable・c_over_a・ Q_stick・matched・rms_px(当てはめの残差)・track。Raises ValueError: frame に rgb・shading が無い、追跡できたマーカーが 3 未満、torsion_model の綴り違い。
• 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_peg_insertion_tactile — py -3.11 examples/poc_peg_insertion_tactile.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
pegtactile)pad_params · pad_context · peg_wrench_to_pad_loads · pad_loads_to_peg_wrench · pad_shear_asymmetry · pad_marker_displacement · pad_tactile_frame · 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.