pegfail op• Data kinds: table → any
• Call: import fullseye as fs; fs.ledger.pegfail_scene_mjcf(kp=None, lg: 'float | None' = None, blocked_depth: 'float | None' = None, decoy_xy=None, offsamples: 'int' = 4) -> 'str' (to call the implementation directly, import pegfail; pegfail.pegfail_scene_mjcf(kp=None, lg: 'float | None' = None, blocked_depth: 'float | None' = None, decoy_xy=None, offsamples: 'int' = 4) -> 'str'; from the registry, opsdrive.get("pegfail_scene_mjcf"))
> This operator's description has not been translated yet. The original text follows as it is.
失敗注入つきの場面の MJCF 文字列(mujoco 不要): pegsim.peg_scene_mjcf を ElementTree で読み、(i) 手首の力・トルクセンサ
(site `peg_top = 手首原点、子 body と親の相互作用力)、(ii) blocked_depth` [m] なら穴の中にその深さを上面とする栓(円柱)、
(iii) `decoy_xy なら囮の穴(壁・面取り・襟を複製して平行移動、名前に decoy_` を付ける。四角い枠は囮と重なるので外す)。
Raises `ValueError`: 栓の深さが穴の外、囮が目標穴と重なる(中心距離 < 2(R + W) + 1 mm)。
• 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
any as input)course_crank · course_s_curve · course_turnaround · course_slope · course_intersection · course_parallel_parking · course_crossing · course_road
pegfail)insertion_failure_table · insertion_failure_validate · insertion_signature · insertion_failure_classify · insertion_recovery_primitive · jamming_parallelogram_planar · jamming_force_check · wedging_risk
*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.