scoop op• Data kinds: scalar × scalar × scalar × scalar → table
• Call: import fullseye as fs; fs.ledger.pour_scene_mjcf(L: 'float' = 0.06, B: 'float' = 0.04, h0: 'float' = 0.016, radius: 'float' = 0.002, *, wall: 'float' = 0.04, lip_height: 'float' = 0.15, mu_slide: 'float' = 0.16, mu_roll: 'float' = 0.09, density: 'float' = 2500.0, floor_mu: 'float' = 1.0, wall_mu: 'float' = 0.3, 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.pour_scene_mjcf(L: 'float' = 0.06, B: 'float' = 0.04, h0: 'float' = 0.016, radius: 'float' = 0.002, *, wall: 'float' = 0.04, lip_height: 'float' = 0.15, mu_slide: 'float' = 0.16, mu_roll: 'float' = 0.09, density: 'float' = 2500.0, floor_mu: 'float' = 1.0, wall_mu: 'float' = 0.3, 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("pour_scene_mjcf"))
> This operator's description has not been translated yet. The original text follows as it is.
口の開いた樋(床の長さ `L、幅 B、奥壁と側壁の高さ wall)に深さ h0` まで剛体球を格子で詰めた場面の MJCF
(mujoco 不要)。樋は mocap の body(`name="trough"、原点 = 口の床の縁、高さ lip_height`)で、口を下げる向き
(y 軸まわりに −θ)に回すのは :func:scoop_mujoco_pour が毎歩 `mocap_quat` を書いて行う。床は粗く(滑り摩擦
`floor_mu、底の層が床ごと滑り出さない —— granular の粗い台と同じ役)、側壁は wall_mu`。床の口の側(x < 0)が
開いていて、こぼれた球は落ちて地面(高さ 0)に届く。
返り: `xml, positions, info`(L, B, h0, wall, radius, lip_height, mass_each, n, timestep, A_fill = L·h0)。
Raises `ValueError: h0 ≥ wall / contact_tc < 2 timestep` / 球が 1 層も入らない / 綴り違い。
• 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_powder_scoop_pour — py -3.11 examples/poc_powder_scoop_pour.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
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).*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.