kendama op• Data kinds: table → scalar
• Call: import fullseye as fs; fs.ledger.swing_up_lift(kp: 'dict', *, apex_above_cup: 'float' = None, T_lift: 'float' = 0.15, g: 'float' = None) -> 'float' (to call the implementation directly, import kendama; kendama.swing_up_lift(kp: 'dict', *, apex_above_cup: 'float' = None, T_lift: 'float' = 0.15, g: 'float' = None) -> 'float'; from the registry, opsdrive.get("swing_up_lift"))
Closed form for the lift amount of the swing-up (bang): the lift that puts the ball's apex apex_above_cup above the center of the receiving cup (the inverse of swing_up_apex). apex − lift − cup_z = tie_z + lift/2 − L + 2 lift²/(g T²) − lift − cup_z = A, taken as a degree-2 equation in lift, positive root. Default A = max(h_c + 0.9 r_b, (top_offset − cup_z) + r_b + 0.035): an apex where the bottom of the ball clears the highest point of the kendama by 35 mm (the hold of catch_plan_staged does not bring the cup closer until the ball has cleared it; during the clearance time ≈ 2√(2·0.03/g) = 0.17 s the cup is moved back sideways by 10 cm). Unless the deceleration 4·lift/T² exceeds g, the ball does not fly (ValueError).
• 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_kendama — py -3.11 examples/poc_kendama.py
scalar as input)spin_from_marker_sequence · carla_transform_matrix · carla_pose_to_world · carla_camera_pose · carla_xy_yaw · carla_scene_load · town_chain · osm_parse
kendama)kendama_params · elliptic_k_agm · pendulum_period_exact · pendulum_launch_speed · pendulum_rod_simulate · tether_tension_fixed · tether_slack_angle · swing_up_plan
*Provenance: kendama.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.