racket op• Data kinds: table × table × table → table
• Call: import fullseye as fs; fs.ledger.rally_simulate(bp: 'dict', rp: 'dict', tp: 'dict', *, perceive=None, strategies=None, retries: 'int' = 6, x_racket: 'float' = 1.55, hit_height=(0.05, 0.45), T_flight: 'float' = 0.42, target_x: 'float' = 0.75, max_hits: 'int' = 60, dt: 'float' = 0.0002, fps: 'float' = 100.0, seed: 'int' = 0, y_jitter: 'float' = 0.25, plan_spin: 'bool' = True, table_ip=None, replan_every: 'int' = 5) -> 'dict' (to call the implementation directly, import racket; racket.rally_simulate(bp: 'dict', rp: 'dict', tp: 'dict', *, perceive=None, strategies=None, retries: 'int' = 6, x_racket: 'float' = 1.55, hit_height=(0.05, 0.45), T_flight: 'float' = 0.42, target_x: 'float' = 0.75, max_hits: 'int' = 60, dt: 'float' = 0.0002, fps: 'float' = 100.0, seed: 'int' = 0, y_jitter: 'float' = 0.25, plan_spin: 'bool' = True, table_ip=None, replan_every: 'int' = 5) -> 'dict'; from the registry, opsdrive.get("rally_simulate"))
2 rackets (at x = −x_r and +x_r, blades facing the opponent) rally against each other.
> The detailed description below is the original text — the summary and the headings are translated.
各コマ(1/fps)で受け手側の知覚 perceive(t, p, v, ω) が球の状態を返し、そこから運動方程式 + 台の跳ねで自分の面 x = ±x_r への到達点・時刻を予測してラケットを動かす(上限つき)。球が面に届いたら、相手コートの (∓target_x, y*) に T_flight で落ちる速度を狙って打つ(y* は乱数、plan_spin なら打球後のスピンを込みで狙いを合わせる)。strategies = (side 0 の戦略, side 1 の戦略)(None なら両方 strategy_feeder)。retries > 0 なら打つ前に shot_is_legal で先読みし、外す狙いは巻き戻して別の狙い(戦略を引き直す)でやり直す。返り値 {"hits", "end_reason", "shots": [...], "t", "p" (N,3), "racket_pos" (N,2,3), "hit_times", "rewinds"}。
• 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_ball_bounce — py -3.11 examples/poc_ball_bounce.py
• poc_table_tennis_rally_loop — py -3.11 examples/poc_table_tennis_rally_loop.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
racket)racket_params · racket_impact · racket_hit_check · aim_velocity · racket_plan · racket_move · strategy_attacker · strategy_feeder
*Provenance: racket.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.