membrane_indent_sphere — DRIVE tacsim op

• Data kinds: table → table

• Call: import fullseye as fs; fs.ledger.membrane_indent_sphere(hz: 'dict', n: 'int' = 256, fov: 'float' = 0.016) -> 'dict' (to call the implementation directly, import tacsim; tacsim.membrane_indent_sphere(hz: 'dict', n: 'int' = 256, fov: 'float' = 0.016) -> 'dict'; from the registry, opsdrive.get("membrane_indent_sphere"))

Usage

Height field h(x, y) = −ū_z(r) [m] of the gel membrane under sphere indentation (from the table of hertz_sphere) and the analytic normals.

n pixels square, field of view fov [m] (pixel pitch fov/n). The normals are taken from the radial derivative of ū_z by central differences (step pitch/4) as (−∂h/∂x, −∂h/∂y, 1)/|·|. Returns: h (n, n), normals (n, n, 3), pitch, X, Y, r (n, n), contact (bool, r < a), hz. Unless the window is at least 5 times the contact radius, the height reference sinks in the tail of the far field (Raises ValueError: fov < 5a, hz lacks a/delta/R).

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_knife_tactile_toughness — py -3.11 examples/poc_knife_tactile_toughness.py

• poc_tacsim_elastic_membrane — py -3.11 examples/poc_tacsim_elastic_membrane.py

• poc_tacsim_marker_shear — py -3.11 examples/poc_tacsim_marker_shear.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 (tacsim)

combined_modulus · hertz_sphere · hertz_force · hertz_cylinder · hertz_surface_uz · hertz_pressure · membrane_indent_shape · membrane_lights

*Provenance: tacsim.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.