pegtactile op• Data kinds: signal × signal × table → table
• Call: import fullseye as fs; fs.ledger.peg_wrench_to_pad_loads(F_pad, M_pad, pad: 'dict') -> 'dict' (to call the implementation directly, import pegtactile; pegtactile.peg_wrench_to_pad_loads(F_pad, M_pad, pad: 'dict') -> 'dict'; from the registry, opsdrive.get("peg_wrench_to_pad_loads"))
> This operator's description has not been translated yet. The original text follows as it is.
2 つのパッドがペグに加えるレンチ(グリッパ系、把持点まわり)→ 各パッドの (法線力 P、膜が受けるせん断 q = (q_u, q_v))。
釣り合い(導出): パッド R(+x)はペグに −N_R x̂ と T_R、L(−x)は +N_L x̂ と T_L。F_x = N_L − N_R、F_y = T_Ry + T_Ly、
F_z = T_Rz + T_Lz、M_y = −w(T_Rz − T_Lz)、M_z = w(T_Ry − T_Ly)、M_x = ねじり(半分ずつ)。法線は把持力で N = G₀ ∓ F_x/2。
返り: `R・L(各 P・q(膜が受ける = −T)・slip_ratio = |q|/(μP)・torsion(膜が受けるねじり)・torsion_ratio`
= |ねじり| / 全滑りトルク (3π/16)μPa)、`torsion(ペグへのねじりの半分 M_x/2)、ok(両方 |q| < μP)、min_margin`、
`torsion_ok`。滑り(|q| ≥ μP)とねじりの全滑りは印で返す(例外にしない: 合成は比例載荷・無滑りねじりの模型)。
Raises ValueError: 形が (3,) でない・有限でない、どちらかのパッドの法線力が 0 以下(パッドが離れる = この写像の外。fail-closed)。
• 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 · pad_loads_to_peg_wrench · pad_shear_asymmetry · pad_marker_displacement · pad_tactile_frame · pad_tactile_read · contact_candidates
*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.