wedging_check — DRIVE pegsim op

• Data kinds: table → table

• Call: import fullseye as fs; fs.ledger.wedging_check(kp, theta: 'float') -> 'dict' (to call the implementation directly, import pegsim; pegsim.wedging_check(kp, theta: 'float') -> 'dict'; from the registry, opsdrive.get("wedging_check"))

Usage

Whether wedging can occur at the tilt θ [rad] at the onset of two-point contact (OCW p.28: θ > c/μ).

Returns: possible (θ > c/μ), theta_limit = c/μ, l2 (two-point contact depth at that θ, exact; 0 if θ ≥ θ_m_exact), l2_over_d, lambda = l₂/(2rμ), possible_small_angle (l₂/d < μ ⇔ λ < 1; at small angles the same judgement as possible). If μ = 0 there is no friction cone, so always False.

References (sample data, literature)

• 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.

Runnable examples (verified samples that actually call this op)

• poc_peg_insertion_tactile — py -3.11 examples/poc_peg_insertion_tactile.py

• poc_pegsim_insertion — py -3.11 examples/poc_pegsim_insertion.py

Ops the type connects to (they accept table as input)

course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same

Same category (pegsim)

peg_params · whitney_clearance · two_point_depth · jamming_diagram · chamfer_capture · contact_state_predict · circle_fit_known_radius · cylinder_fit_known_radius

*Provenance: pegsim.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.