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"))
MJCF of a scene in which an open chute (floor length L, width B, back and side wall height wall) is packed on a grid with rigid spheres up to depth h0 (no mujoco needed). The chute is a mocap body (name="trough", origin = floor edge at the mouth, height lip_height); rotating it mouth-down (−θ about the y axis) is done by scoop_mujoco_pour, which writes mocap_quat every step. The floor is rough (sliding friction floor_mu, so the bottom layer does not slide out along the floor — the same role as the rough base in granular); the side walls use wall_mu. The mouth side of the floor (x < 0) is open, and spilled spheres fall and reach the ground (height 0). Returns: 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 / not even 1 layer of spheres fits / misspelling.
• 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.