puck op• Data kinds: any × signal × table → table
• Call: import fullseye as fs; fs.ledger.striker_plan(crossing, q_now, link: 'dict', *, omega_max: 'float' = 6.0, t_now: 'float' = 0.0, margin: 'float' = 0.0) -> 'dict' (to call the implementation directly, import puck; puck.striker_plan(crossing, q_now, link: 'dict', *, omega_max: 'float' = 6.0, t_now: 'float' = 0.0, margin: 'float' = 0.0) -> 'dict'; from the registry, opsdrive.get("striker_plan"))
Strike planning (rule-based): computes the joint angles for the predicted crossing point by IK and moves each servo at a constant angular velocity ≤ ω_max. Required time = max|Δq|/ω_max. Feasible if it gets there before the arrival at the crossing point. Return value {"feasible","reason","q_target","dq","t_move","t_arrive","t_cross","E"}, reason ∈ {"ok","no_crossing","unreachable","too_late"}. crossing = return value of puck_crossing_point (None allowed). The default ω_max = 6 rad/s is an assumption.
• 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_air_hockey_intercept — py -3.11 examples/poc_air_hockey_intercept.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
puck)puck_table · puck_wall_bounce · puck_slide_predict · puck_state_at · puck_crossing_point · puck_mirror_path · puck_stop_distance · puck_camera
*Provenance: puck.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.