pegfail op• Data kinds: table × scalar → table
• Call: import fullseye as fs; fs.ledger.jamming_parallelogram_planar(kp, depth: 'float') -> 'dict' (to call the implementation directly, import pegfail; pegfail.jamming_parallelogram_planar(kp, depth: 'float') -> 'dict'; from the registry, opsdrive.get("jamming_parallelogram_planar"))
Derives the jamming parallelogram from the planar statics of two-point contact (a 2nd path checked against the vertices of pegsim.jamming_diagram = the values of OCW p.34).
> The detailed description below is the original text — the summary and the headings are translated.
平面(x 右、z 上)で、先端の縁が −x 側の壁に深さ l で触れ(法線力 f₁ ≥ 0、+x 向き)、+x 側の口の縁が胴に触れる(f₂ ≥ 0、−x 向き)。両点が下へ滑る Coulomb 摩擦(上向き μf)で、先端に加える (F_x, F_z 下向き正, M 反時計回り正) の釣り合いは
F_x = f₂ − f₁、F_z = μ(f₁ + f₂)、M = μ r f₁ − (μ r + l) f₂
→ M/(rF_z) = −λ − μ(λ + 1)·(F_x/F_z)、λ = l/(2rμ)。鏡像の配置(先端が +x の壁)は +λ − μ(λ+1)x。f₁ = 0 / f₂ = 0 が |F_x/F_z| = 1/μ の縦の辺(一点接触の摩擦限界)。4 頂点 = 2 本の斜辺 × 2 本の縦辺の交点 = (−1/μ, 2λ+1), (1/μ, −1), (1/μ, −(2λ+1)), (−1/μ, 1)(OCW の順)。返り: lambda、slope = −μ(λ+1)、vertices(4, 2)、line_minus・line_plus(切片)。Raises ValueError: l < 0、μ ≤ 0。
• 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_force_check · 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.