stall_verdict — DRIVE `pegtactile` op

• Data kinds: table × scalar × any → table

• Call: import fullseye as fs; fs.ledger.stall_verdict(kp, theta: 'float', mu_hat) -> 'dict' (to call the implementation directly, import pegtactile; pegtactile.stall_verdict(kp, theta: 'float', mu_hat) -> 'dict'; from the registry, opsdrive.get("stall_verdict"))

Usage

Whitney's verdict when stalled in two-point contact (OCW p.28): if θ > c/μ̂ it is wedging (the case that stays stuck even when the force is released), otherwise jamming (resolvable by the direction of the force). c = (R − r)/R. μ̂ is the value read from touch during the sliding phase of the same insertion (friction_from_single_contact); if it is None or ≤ 0, returns "unknown" without guessing. Returns verdict ("wedging" / "jamming" / "unknown"), theta_limit. Raises ValueError: θ is not finite or is negative.

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_loads_to_peg_wrench · pad_shear_asymmetry · pad_marker_displacement · pad_tactile_frame · pad_tactile_read

*Provenance: pegtactile.py — DRIVE operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

stall_verdict — DRIVE pegtactile op