cutting op• Data kinds: signal × signal × scalar → signal
• Call: import fullseye as fs; fs.ledger.force_from_wrist_displacement(z_meas_mm, z_cmd_mm, k_n_per_mm: 'float') (to call the implementation directly, import cutting; cutting.force_from_wrist_displacement(z_meas_mm, z_cmd_mm, k_n_per_mm: 'float'); from the registry, opsdrive.get("force_from_wrist_displacement"))
With a compliant wrist (vertical spring k, N/mm), the pushing force is F = k (z_meas − z_cmd): the amount by which the blade stays above the command is the force (array in N).
Quasi-static approximation: the inertia and damping of the wrist are not included. When a wrist with damping c is lowered at speed v, c·v enters the tare taken in the air, and it drops out only while the blade is held stopped by the food —— the upper bound of the error is c·v (compared with MuJoCo's constraint force in the PoC's --full).
• 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_food_cutting_measure — py -3.11 examples/poc_food_cutting_measure.py
signal as input)flight_vacuum · magnus_lift_coefficient · drag_coefficient_sphere · restitution_from_apexes · restitution_from_intervals · fit_parabola · flight_fit · fit_aero
cutting)cutting_scene · cutting_face_render · cutting_edge_render · cutting_episode_synth · cutting_wrist_mjcf · knife_edge_track · cut_depth_from_side · slice_thickness_profile
*Provenance: cutting.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.