pad_tactile_frame — DRIVE pegtactile op

• Data kinds: scalar × signal × table → table

• Call: import fullseye as fs; fs.ledger.pad_tactile_frame(P: 'float', q_uv, pad: 'dict', ctx=None, noise: 'float' = 0.0, seed: 'int' = 0, torsion: 'float' = 0.0, torsion_model: 'str' = 'partial_slip') -> 'dict' (to call the implementation directly, import pegtactile; pegtactile.pad_tactile_frame(P: 'float', q_uv, pad: 'dict', ctx=None, noise: 'float' = 0.0, seed: 'int' = 0, torsion: 'float' = 0.0, torsion_model: 'str' = 'partial_slip') -> 'dict'; from the registry, opsdrive.get("pad_tactile_frame"))

Usage

Synthetic image of 1 pad: Hertz indentation shading (tacsim.membrane_render_rgb) + markers whose centers are shifted by the displacement (tacslip.membrane_render_markers, not warped by interpolation). noise is the σ of per-pixel Gaussian noise. Returns rgb (with markers, (n, n, 3)), shading (without markers = for reading forces; a real device needs marker removal), pts (ground-truth marker centers [px]), truth (P, q, φ, Q, c/a, slip flag, a, torsion, torsion model and full-slip flag). The torsion-field model is torsion_model (default "partial_slip", pad_marker_displacement). Raises ValueError: P ≤ 0, noise < 0, misspelling.

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_read · contact_candidates

*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.