pegfail op• Data kinds: any → table
• Call: import fullseye as fs; fs.ledger.insertion_recovery_primitive(name: 'str') -> 'dict' (to call the implementation directly, import pegfail; pegfail.insertion_recovery_primitive(name: 'str') -> 'dict'; from the registry, opsdrive.get("insertion_recovery_primitive"))
> This operator's description has not been translated yet. The original text follows as it is.
回復プリミティブの表(クラス → 動作の記述)。`name は表の recovery` の語。
`lift_recentre`: 先端を板の上 6 mm まで上げ、手首 RGB-D で (dx, dy) を測って搬送台を寄せ(≤ 6 回)、再降下。
`lift_reapproach`: 口の上 10 mm まで上げ、治具の目標座標へ搬送台を戻し、カメラで寄せて再降下。
`retract_reduce_tilt`: 4 mm 退避し、手首ヒンジの角度を測って把持の傾きをその分戻し(θ → 0)、再降下(p.28 の θ ≤ c/μ へ)。
`steer_force`: 平行四辺形の余裕を線形模型で見て、搬送台の横移動 0.5 mm(F_x と M = L_g F_x が一緒に動く)と手首の回転 0.5°
(M だけが k_r Δ 動く)の組 3 × 3 から余裕が最大の組を選び、進むまで ≤ 6 歩(Whitney p.34: 力の比を図の中へ)。
`lift_abort: 退避して終了(障害物は押しても取れない)。continue: 何もしない。stop`: 完了。
Raises `ValueError`: 未知の名(綴り壊しは 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_failure_recovery — py -3.11 examples/poc_peg_failure_recovery.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
pegfail)insertion_failure_table · insertion_failure_validate · insertion_signature · insertion_failure_classify · jamming_parallelogram_planar · jamming_force_check · wedging_risk · insertion_stall_detect
*Provenance: pegfail.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.