pegfail op• Data kinds: table × signal × signal × signal × signal × signal → table
• Call: import fullseye as fs; fs.ledger.wrist_load_from_deflection(kp, q_slide, q_hinge, q_hinge_rest, tip_xyz, axis, lg: 'float | None' = None, peg_mass: 'float' = 0.04, com_from_tip: 'float | None' = None, gravity: 'float' = 9.81) -> 'dict' (to call the implementation directly, import pegfail; pegfail.wrist_load_from_deflection(kp, q_slide, q_hinge, q_hinge_rest, tip_xyz, axis, lg: 'float | None' = None, peg_mass: 'float' = 0.04, com_from_tip: 'float | None' = None, gravity: 'float' = 9.81) -> 'dict'; from the registry, opsdrive.get("wrist_load_from_deflection"))
From the wrist-spring deflection, the load that the support (+ gravity) applies to the peg, taken about the tip (numpy only): F⃗ = −k_t q_slide − m g ẑ, M⃗_tip = −k_r (q_hinge − rest) + (p_hinge − p_tip) × F⃗_spring + (p_com − p_tip) × F⃗_g.
> The detailed description below is the original text — the summary and the headings are translated.
q_slide = (wx, wy, wz) [m] (搬送台に対する手首の並進、搬送台は回らないので世界軸)、q_hinge = (wrx, wry, wrz) [rad]、q_hinge_rest = ばねの静止角(把持の傾き)、lg = 先端からヒンジまで(None → ペグ長)、com_from_tip = 重心の先端からの距離(None → 既定のペグ 0.03 kg @ L/2 + 頭 0.01 kg @ L + 3 mm の重心)。ヒンジ 3 軸のトルクはヒンジの軸が世界軸に揃う小角(手首の回りは 5° 以下)の近似で世界ベクトルとして足す。返り: F(3,)、M_tip(3,)、F_spring、M_hinge。Raises ValueError: 形が違う、軸がゼロ。
• 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_peg_failure_recovery — py -3.11 examples/poc_peg_failure_recovery.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
pegfail)insertion_failure_table · insertion_failure_validate · insertion_signature · insertion_failure_classify · insertion_recovery_primitive · jamming_parallelogram_planar · jamming_force_check · wedging_risk
*Provenance: pegfail.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.