kendama op• Data kinds: table → table
• Call: import fullseye as fs; fs.ledger.swing_up_apex(kp: 'dict', *, lift: 'float' = 0.265, T_lift: 'float' = 0.15, kind: 'str' = 'bang', g: 'float' = None) -> 'dict' (to call the implementation directly, import kendama; kendama.swing_up_apex(kp: 'dict', *, lift: 'float' = 0.265, T_lift: 'float' = 0.15, kind: 'str' = 'bang', g: 'float' = None) -> 'dict'; from the registry, opsdrive.get("swing_up_apex"))
> This operator's description has not been translated yet. The original text follows as it is.
:func:swing_up_plan で真下に吊った玉(支点の L 下、静止)がどこまで昇るかの閉形式。
減速の加速度 a > g なら減速に入った瞬間(bang: T/2、trap: 2T/3)に弛み、そのときの手元の高さ z_s と速さ v_s で自由落下
→ 頂点 z = tie_z + z_s − L + v_s²/(2g)(手元の出発点から測った玉の中心、L = ひもの有効長、tie_z = 支点の手元からの高さ)。
a ≤ g なら弛まず、玉は支点の L 下で止まる。返り値 ``{"accel", "flies", "slack_t", "z_slack", "v_slack", "apex",
"apex_above_handle", "apex_above_cup"}``(apex_above_handle = apex − lift、apex_above_cup = それから大皿の縁の高さを引いた量:
皿に届くには ≥ h_c、皿の窓に入るには h_c ≤ … ≤ h_c + 1.5 r_b)。
• 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_kendama — py -3.11 examples/poc_kendama.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
kendama)kendama_params · elliptic_k_agm · pendulum_period_exact · pendulum_launch_speed · pendulum_rod_simulate · tether_tension_fixed · tether_slack_angle · swing_up_plan
*Provenance: kendama.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.