contact_state_from_wrench — DRIVE `pegtactile` op

• Data kinds: table × signal × signal × signal × signal × signal → table

• Call: import fullseye as fs; fs.ledger.contact_state_from_wrench(kp, F, M_g, g, tip, axis, f_air: 'float' = 0.05, tau: 'float' = 0.35, tol: 'float' = 8e-05, geometry: 'bool' = True, tol_l: 'float' = 5e-05) -> 'dict' (to call the implementation directly, import pegtactile; pegtactile.contact_state_from_wrench(kp, F, M_g, g, tip, axis, f_air: 'float' = 0.05, tau: 'float' = 0.35, tol: 'float' = 8e-05, geometry: 'bool' = True, tol_l: 'float' = 5e-05) -> 'dict'; from the registry, opsdrive.get("contact_state_from_wrench"))

Usage

Contact wrench (F that the peg receives from the hole and M about the grasp point g, world frame) → contact state (rules, no learning).

> The detailed description below is the original text — the summary and the headings are translated.

単一の点接触なら、その点まわりのモーメントは 0(点に偶力なし)。幾何的に触れうる候補点 c(contact_candidates)ごとの正規化残差 e(c) = |M_g − (c − g) × F| / (|F| r) の最小が tau 未満なら一点(先端の縁で深さ < W なら面取り)、どの候補でも説明できず先端と胴の両方に有効な候補があれば二点、|F| < f_air なら無接触。geometry なら Whitney の幾何を優先する: 傾き θ で先端が最狭部から l₂(θ) − tol_l より深ければ両側に触れるしかない(二点を強制)。くさびの境目 θ = c/μ では先端の摩擦円錐の縁が口の接触点を通り(口と先端を結ぶ線の傾き c/θ = μ)、二点のレンチが「口の一点」と区別できない —— レンチだけの規則の原理的な死角。返り state(CONTACT_STATES)、e_tip・e_mouth、where("none" / "tip" / "mouth" / "tip+mouth" / "?")、c(当たった点、一点のとき)、Fmag・depth・forced。Raises ValueError: ベクトルが有限の 3 成分でない、tau ≤ 0。

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

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 (`pegtactile`)

pad_params · pad_context · peg_wrench_to_pad_loads · pad_loads_to_peg_wrench · pad_shear_asymmetry · pad_marker_displacement · pad_tactile_frame · pad_tactile_read

*Provenance: pegtactile.py — DRIVE operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

contact_state_from_wrench — DRIVE pegtactile op