friction_from_single_contact — DRIVE `pegtactile` op

• Data kinds: signal × text × any × signal → table

• Call: import fullseye as fs; fs.ledger.friction_from_single_contact(F, where: 'str', c, axis, chamfer: 'bool' = False) -> 'dict' (to call the implementation directly, import pegtactile; pegtactile.friction_from_single_contact(F, where: 'str', c, axis, chamfer: 'bool' = False) -> 'dict'; from the registry, opsdrive.get("friction_from_single_contact"))

Usage

> This operator's description has not been translated yet. The original text follows as it is.

一点接触で滑っている間の接触力から壁の摩擦係数(滑りの間だけ Coulomb の限界に張り付く、固着中は下限)。

先端の縁が壁(`where="tip")なら法線 = 水平(穴の中心へ)、摩擦 = 鉛直 → μ̂ = |F_z|/|F_水平|。胴が最狭部の縁("mouth"`)なら

法線 = 軸に垂直、摩擦 = 軸方向 → μ̂ = |F·a|/|F_⊥|。`chamfer なら 45° の面取り面の上(法線 = (−r̂, 1)/√2、c` = 接触点が要る)。

`"none" は None。返り mu`(None 可)。Raises ValueError: where が語彙の外、F・axis が有限の 3 成分でない、面取りで c が無い。

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_peg_insertion_tactile — py -3.11 examples/poc_peg_insertion_tactile.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 (`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).*

friction_from_single_contact — DRIVE pegtactile op