roverslip op• Data kinds: signal × table × any × scalar → table
• Call: import fullseye as fs; fs.ledger.slope_slip_curve(slopes_deg, wheel, soil, mass: 'float', n_wheels: 'int' = 6, gravity: 'float' = 3.72, s_min: 'float' = -0.9, s_max: 'float' = 0.99) -> 'dict' (to call the implementation directly, import roverslip; roverslip.slope_slip_curve(slopes_deg, wheel, soil, mass: 'float', n_wheels: 'int' = 6, gravity: 'float' = 3.72, s_min: 'float' = -0.9, s_max: 'float' = 0.99) -> 'dict'; from the registry, opsdrive.get("slope_slip_curve"))
For each slope angle (degrees, uphill positive), the steady slip ratio at which the drawbar pull balances the gravity component along the slope while supporting the vehicle's weight.
Per wheel F_z = m g cos β / N, required traction m g sin β / N. The slip ratio is found by bisection on [s_min, s_max] (with sinkage also found by bisection inside). Angles where traction is insufficient even at s_max get feasible = False and slip = nan (stuck), and likewise angles on a downhill where it cannot stop even at s_min. The default gravity is Mars, 3.72 m/s². Returns {"slope", "slip", "sinkage", "feasible", "max_slope"} (max_slope is the interpolated maximum climbable angle [deg], nan if there is no limit within the range).
• 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_rover_slip_risk_path — py -3.11 examples/poc_rover_slip_risk_path.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
roverslip)bekker_pressure · bekker_wheel_sinkage · wheel_forces · wheel_sinkage · wheel_traction_curve · ground_shift_track · odometry_slip · slip_gp_fit
*Provenance: roverslip.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.