pegfail op• Data kinds: table × scalar × scalar × scalar → table
• Call: import fullseye as fs; fs.ledger.jamming_force_check(kp, depth: 'float', fx_over_fz: 'float', m_over_rfz: 'float', tol: 'float' = 0.0, side: 'int' = 0) -> 'dict' (to call the implementation directly, import pegfail; pegfail.jamming_force_check(kp, depth: 'float', fx_over_fz: 'float', m_over_rfz: 'float', tol: 'float' = 0.0, side: 'int' = 0) -> 'dict'; from the registry, opsdrive.get("jamming_force_check"))
Whether the measured tip force ratios (F_x/F_z, M/(rF_z)) lie inside Whitney's parallelogram (wraps pegsim.jamming_diagram and adds which edge is nearest and which slanted edge applies to the current contact configuration).
Convention (fixed by the derivation of jamming_parallelogram_planar): e_x is the horizontal unit vector pointing "from the wall the tip touches toward the opposite rim of the mouth", F_x is the component in that direction, F_z is positive for pushing in (downward), M = M⃗·(e_x × e_z) (counter-clockwise positive in the plane with x right, z up). Under this convention the oblique edge that applies to the current configuration is the line with intercept −λ (side=-1). side=+1 is the mirror image, side=0 both (the whole parallelogram). tol is the slack for the inside test (negative = stricter). Returns: inside, margin (smallest slack of the four edges; negative means outside), edge (name of the edge with the smallest slack), margins (dict), lambda, active_line. Raises ValueError: force ratio not finite.
• 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 · wedging_risk · insertion_stall_detect
*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.