pegfail_scene_mjcf — DRIVE `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"))

Usage

MJCF string of a scene with failure injection (no mujoco needed): reads pegsim.peg_scene_mjcf with ElementTree and adds (i) a wrist force-torque sensor (site peg_top = wrist origin; interaction force between the child body and its parent), (ii) if blocked_depth [m] is given, a plug (cylinder) in the hole whose top face is at that depth, (iii) if decoy_xy is given, a decoy hole (the wall, chamfer and collar are duplicated and translated, with decoy_ prefixed to their names; the square frame is removed because it overlaps the decoy). Raises ValueError: plug depth outside the hole, decoy overlapping the target hole (center distance < 2(R + W) + 1 mm).

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_peg_failure_recovery — py -3.11 examples/poc_peg_failure_recovery.py

Ops the type connects to (they accept `any` as input)

course_crank · course_s_curve · course_turnaround · course_slope · course_intersection · course_parallel_parking · course_crossing · course_road

Same category (`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).*

pegfail_scene_mjcf — DRIVE pegfail op