tacslip op• Data kinds: scalar × table × scalar × scalar × scalar → table
• Call: import fullseye as fs; fs.ledger.mindlin_partial_slip(Q: 'float', hz: 'dict', mu: 'float', G: 'float', nu: 'float') -> 'dict' (to call the implementation directly, import tacslip; tacslip.mindlin_partial_slip(Q: 'float', hz: 'dict', mu: 'float', G: 'float', nu: 'float') -> 'dict'; from the registry, opsdrive.get("mindlin_partial_slip"))
Cattaneo–Mindlin partial slip (Johnson 1985 §7.2): a tangential force Q is applied to a sphere while it is pressed with normal force P.
hz is the table from tacsim.hertz_sphere (a, F, p0). Returns: c (stick radius = a(1 − Q/μP)^{1/3}), c_over_a, q_ratio = Q/μP, delta_x (tangential displacement of a rigid sphere 3μP(2−ν)/(16Ga)[1 − (1−Q/μP)^{2/3}]), k_t (initial tangential stiffness 8Ga/(2−ν)), slipping (True when Q ≥ μP = full sliding. Returned as a flag rather than an exception: sliding is a physically occurring state, not an input error), copies of the inputs (Q, muP, a, P, mu, G, nu, p0). Raises ValueError: Q < 0, μ ≤ 0, G ≤ 0, ν outside [0, 0.5], hz lacks a/F/p0.
• 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_tacsim_marker_shear — py -3.11 examples/poc_tacsim_marker_shear.py
• poc_tactile_dipole_torque — py -3.11 examples/poc_tactile_dipole_torque.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
tacslip)mindlin_traction · hertz_surface_ur · hertzian_tangential_inner · cerruti_kernel · cerruti_surface_displacement · membrane_shear_field · membrane_markers · displace_markers
*Provenance: tacslip.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.