pegtactile op• Data kinds: signal × signal → table
• Call: import fullseye as fs; fs.ledger.wrist_stiffness_fit(dx, F, min_span: 'float' = 2e-05) -> 'dict' (to call the implementation directly, import pegtactile; pegtactile.wrist_stiffness_fit(dx, F, min_span: 'float' = 2e-05) -> 'dict'; from the registry, opsdrive.get("wrist_stiffness_fit"))
From the wrist deflection Δx (wrist camera) and the same component F of the contact force on the peg, k = Σ FΔx / ΣΔx² (least squares through the origin; quasi-static balance F_contact + F_spring ≈ 0 ⇒ F_contact = kΔx). The same formula also works for rotation (angle and moment). Returns k, r2, rms_N, n, span. Raises ValueError: fewer than 3 points, shape mismatch, non-finite, range of Δx below min_span (ill-conditioned: k of a spring that does not move is undetermined).
• 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_insertion_tactile — py -3.11 examples/poc_peg_insertion_tactile.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
pegtactile)pad_params · pad_context · peg_wrench_to_pad_loads · pad_loads_to_peg_wrench · pad_shear_asymmetry · pad_marker_displacement · pad_tactile_frame · pad_tactile_read
*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.