swing_up_apex — DRIVE `kendama` op

• Data kinds: table → table

• Call: import fullseye as fs; fs.ledger.swing_up_apex(kp: 'dict', *, lift: 'float' = 0.265, T_lift: 'float' = 0.15, kind: 'str' = 'bang', g: 'float' = None) -> 'dict' (to call the implementation directly, import kendama; kendama.swing_up_apex(kp: 'dict', *, lift: 'float' = 0.265, T_lift: 'float' = 0.15, kind: 'str' = 'bang', g: 'float' = None) -> 'dict'; from the registry, opsdrive.get("swing_up_apex"))

Usage

Closed form for how high a ball hanging straight down (L below the pivot, at rest) rises under swing_up_plan. If the deceleration a > g, the string goes slack the instant deceleration begins (bang: T/2, trap: 2T/3), and the ball falls freely from the hand height z_s and speed v_s at that moment → apex z = tie_z + z_s − L + v_s²/(2g) (ball center measured from the hand's starting point; L = effective string length, tie_z = height of the pivot above the hand). If a ≤ g, it does not go slack and the ball stops L below the pivot. Returns {"accel", "flies", "slack_t", "z_slack", "v_slack", "apex", "apex_above_handle", "apex_above_cup"} (apex_above_handle = apex − lift; apex_above_cup = that minus the height of the big cup's rim: reaching the cup needs ≥ h_c, entering the cup's window needs h_c ≤ … ≤ h_c + 1.5 r_b).

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_kendama — py -3.11 examples/poc_kendama.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 (`kendama`)

kendama_params · elliptic_k_agm · pendulum_period_exact · pendulum_launch_speed · pendulum_rod_simulate · tether_tension_fixed · tether_slack_angle · swing_up_plan

*Provenance: kendama.py — DRIVE operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

swing_up_apex — DRIVE kendama op