kendamaworld op• Data kinds: table → table
• Call: import fullseye as fs; fs.ledger.kendama_clearance(kp: 'dict', hand, p_ball, *, R_ken=None, grip=None) -> 'dict' (to call the implementation directly, import kendamaworld; kendamaworld.kendama_clearance(kp: 'dict', hand, p_ball, *, R_ken=None, grip=None) -> 'dict'; from the registry, opsdrive.get("kendama_clearance"))
Clearance [m] from the ball's surface to the kendama (the solids of revolution of ken and cross-piece) (negative = the ball penetrates the kendama). With kp's trick pose (R_ken, grip point grip), hand hand and ball center p_ball (each (3,) or (N, 3)). The distance to a solid of revolution equals exactly the 2-D distance to its meridian profile, so it does not depend on the mesh discretization. Returns {"gap" (N,), "ken" (N,), "cross" (N,)} (ken / cross = clearance to each part). The physics does not resolve ball-kendama collisions, so this quantity counts the steps where "the ball passed through the kendama" (used for gates and honest reporting). R_ken (iteration 19, grip switch in combos): pass the pose as (3, 3) or per-time (N, 3, 3) instead of kp["R_ken"]. grip = override of the grip point (local). If both are None, behaves as before.
• 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_kendama — py -3.11 examples/poc_kendama.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
kendamaworld)ken_mesh · add_ken · ken_set_pose · string_mesh · add_string · string_set · kendama_world · kendama_rig
*Provenance: kendamaworld.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.