pegtactile op• Data kinds: table × signal × signal × signal × signal × signal → table
• Call: import fullseye as fs; fs.ledger.two_point_forces(kp, F, M_g, g, tip, axis, mu_grid=None) -> 'dict' (to call the implementation directly, import pegtactile; pegtactile.two_point_forces(kp, F, M_g, g, tip, axis, mu_grid=None) -> 'dict'; from the registry, opsdrive.get("two_point_forces"))
Decomposes the wrench of a two-point contact (Whitney) into 2 contact forces and the wall friction μ (planar; Coulomb assumption with both points sliding downward).
In the tilt plane (horizontal component e of the axis), the tip edge touches the wall on the −e side (normal = horizontal, friction = upward), and the body touches the edge of the narrowest part on the +e side (normal = perpendicular to the axis, friction = upward along the axis). For each μ, (f_n1, f_n2) is the least-squares solution of 3 equations (F_e, F_z, M), and the μ with minimum residual is refined with a parabola (default grid 0 to 1.5, 301 points). Returns mu / fn_tip / fn_mouth / resid (N) / p_tip / p_mouth. Raises ValueError: axis too vertical for the tilt plane to be determined, vectors that are not 3 finite components, μ grid with fewer than 3 points.
• 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.