two_point_depth — DRIVE pegsim op

• Data kinds: table → scalar

• Call: import fullseye as fs; fs.ledger.two_point_depth(kp, theta: 'float', model: 'str' = 'exact') -> 'float' (to call the implementation directly, import pegsim; pegsim.two_point_depth(kp, theta: 'float', model: 'str' = 'exact') -> 'float'; from the registry, opsdrive.get("two_point_depth"))

Usage

Insertion depth l₂ [m] at which two-point contact begins at tilt θ [rad] (from the narrowest point to the tip center). Selects one of 3 models by name.

"exact": exact on a 3-D cylinder, l₂ = (2R − r(cos θ + sec θ)) / tan θ (derivation (1′)). "small_angle": l₂ = 2c_r / sin θ (OCW p.9's l/d = c/θ written with the radial clearance). "rectangle": 2-D rectangle approximation (D − d/cos θ)/tan θ (ignores the height r sin θ of the edge point, so at θ = 6° it comes out 0.5 mm too shallow — kept to measure the size of the error). Raises ValueError: θ ≤ 0, θ ≥ θ_m_exact (does not even enter the mouth), unknown model.

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)

• gallery_drive_peg — py -3.11 examples/gallery_drive_peg.py

• poc_peg_insertion_tactile — py -3.11 examples/poc_peg_insertion_tactile.py

• poc_pegsim_insertion — py -3.11 examples/poc_pegsim_insertion.py

Ops the type connects to (they accept scalar as input)

spin_from_marker_sequence · carla_transform_matrix · carla_pose_to_world · carla_camera_pose · carla_xy_yaw · carla_scene_load · town_chain · osm_parse

Same category (pegsim)

peg_params · whitney_clearance · wedging_check · jamming_diagram · chamfer_capture · contact_state_predict · circle_fit_known_radius · cylinder_fit_known_radius

*Provenance: pegsim.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.