scoop_scene_mjcf — DRIVE `scoop` op

• Data kinds: scalar × scalar → table

• Call: import fullseye as fs; fs.ledger.scoop_scene_mjcf(n_spheres: 'int' = 500, radius: 'float' = 0.002, *, a: 'float' = 0.03, h: 'float' = 0.012, rim_height: 'float' = 0.1, mu_slide: 'float' = 0.16, mu_roll: 'float' = 0.09, density: 'float' = 2500.0, bowl_mu: 'float' = 0.5, tile: 'float' = 0.006, drop_gap: 'float' = 0.0003, timestep: 'float' = 0.0015, contact_tc: 'float' = 0.006, solver_iterations: 'int' = 50, solver: 'str' = 'CG', cone: 'str' = 'elliptic', condim: 'int' = 6, seed: 'int' = 0) -> 'dict' (to call the implementation directly, import scoop; scoop.scoop_scene_mjcf(n_spheres: 'int' = 500, radius: 'float' = 0.002, *, a: 'float' = 0.03, h: 'float' = 0.012, rim_height: 'float' = 0.1, mu_slide: 'float' = 0.16, mu_roll: 'float' = 0.09, density: 'float' = 2500.0, bowl_mu: 'float' = 0.5, tile: 'float' = 0.006, drop_gap: 'float' = 0.0003, timestep: 'float' = 0.0015, contact_tc: 'float' = 0.006, solver_iterations: 'int' = 50, solver: 'str' = 'CG', cone: 'str' = 'elliptic', condim: 'int' = 6, seed: 'int' = 0) -> 'dict'; from the registry, opsdrive.get("scoop_scene_mjcf"))

Usage

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

球冠の椀(縁の半径 `a、深さ h、縁の高さ rim_height`)を薄板のタイルで張り、真上から剛体球を

`n_spheres` 個を椀の中から格子で積んで放す場面の MJCF 文字列(mujoco 不要、台帳に載る)。

椀は内面が球(半径 `R = (a² + h²) / 2h)に接する厚さ 2 mm の板を、緯度の輪ごとに方位で並べる(tile` = 板の

目安の辺、隙間ができないよう 1.35 倍に重ねる)。球は底から千鳥の格子で層に積み(椀の内面から `r + drop_gap`

離す)、縁より上は縁の円柱の中に積む —— 放すと縁より上の柱が崩れて山になり、あふれた球は縁から転がり落ちて床

(高さ 0)に散る。上から落とすと跳ねて椀の中身まで飛び出した(500 個中 172 個しか残らず山ができない、実測)ので、

すくい上げた直後の静かな状態を模す。摩擦の作法は granular の

`heap_scene_mjcf` と同じ(転がり摩擦は無次元 μ_r × 半径)。

返り: `xml, positions(初期中心)、info`(n, radius, a, h, R, rim_height, bottom_height, mass_each, timestep,

n_tiles, V_struck)。Raises `ValueError: contact_tc < 2 timestep / h > a` / 綴り違い / 球が入らない。

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_powder_scoop_pour — py -3.11 examples/poc_powder_scoop_pour.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 (`scoop`)

spoon_bowl_volume · scoop_synth_side · revolution_volume_side · two_view_volume · scoop_volume_read · scoop_count · scoop_image_limit · tilt_wedge_retained

*Provenance: scoop.py — DRIVE operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

scoop_scene_mjcf — DRIVE scoop op