pegtactile op• Data kinds: signal × text × any × signal → table
• Call: import fullseye as fs; fs.ledger.friction_from_single_contact(F, where: 'str', c, axis, chamfer: 'bool' = False) -> 'dict' (to call the implementation directly, import pegtactile; pegtactile.friction_from_single_contact(F, where: 'str', c, axis, chamfer: 'bool' = False) -> 'dict'; from the registry, opsdrive.get("friction_from_single_contact"))
Wall friction coefficient from the contact force while sliding in a single-point contact (it sits at the Coulomb limit only while sliding; during sticking it is a lower bound). If the tip rim is on the wall (where="tip"): normal = horizontal (toward the hole center), friction = vertical → μ̂ = |F_z|/|F_horizontal|. If the shank is on the rim of the narrowest section ("mouth"): normal = perpendicular to the axis, friction = axial → μ̂ = |F·a|/|F_⊥|. With chamfer, on the 45° chamfer face (normal = (−r̂, 1)/√2; c = contact point is required). "none" gives None. Returns mu (may be None). Raises ValueError: where outside the vocabulary, F or axis is not 3 finite components, chamfer without c.
• 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_insertion_tactile — py -3.11 examples/poc_peg_insertion_tactile.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
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).*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.