polish op• Data kinds: scalar → any
• Call: import fullseye as fs; fs.ledger.polish_scene_mjcf(radius: 'float' = 0.008, k_z: 'float' = 500.0, k_xy: 'float' = 20000.0, mass: 'float' = 0.2, friction: 'float' = 0.3, thickness: 'float' = 0.004, timestep: 'float' = 0.0005) -> 'str' (to call the implementation directly, import polish; polish.polish_scene_mjcf(radius: 'float' = 0.008, k_z: 'float' = 500.0, k_xy: 'float' = 20000.0, mass: 'float' = 0.2, friction: 'float' = 0.3, thickness: 'float' = 0.004, timestep: 'float' = 0.0005) -> 'str'; from the registry, opsdrive.get("polish_scene_mjcf"))
MJCF in which a cylindrical tool (radius radius, thickness thickness, mass mass) is moved over a flat plate (the plane z = 0) by 3 prismatic joints x, y, z. z is a position servo (gain k_z [N/m] = the wrist's pressing spring); x and y are stiff servos k_xy. Gravity on. Closed form of the spring: normal force when the tool bottom rests on the plate N = m g + k_z (q_surface − q_cmd) (q_surface = joint value at which the bottom reaches z = 0). Contact is made stiffer (solref time constant = 4 × timestep, solimp 0.99) so that penetration is much smaller than the spring compression (with the default soft contact, mass 0.05 kg at 5 N penetrated 0.7 mm, which in series with the wrist spring made the force come out 6 % too small — measured). The friction cone is pyramidal. With an elliptic cone + impratio = 10, a stiff wrist (20 kN/m) penetrated 0.1-0.36 mm and the force came out 17 % too small (the same with friction 0; measured). Raises ValueError: numeric checks.
• 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_polish_wipe_measure — py -3.11 examples/poc_polish_wipe_measure.py
any as input)course_crank · course_s_curve · course_turnaround · course_slope · course_intersection · course_parallel_parking · course_crossing · course_road
polish)preston_pressure_kernel · preston_removal_map · preston_track_profile · wipe_band_width · raster_wipe_area · coat_image · coat_thickness_from_image · wipe_coverage
*Provenance: polish.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.