scoop op• 資料種類:scalar × scalar × scalar × scalar → table
• 呼叫: 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'(要直接呼叫實作,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';從台帳取用則 opsdrive.get("pour_scene_mjcf"))
在開口槽(底長 L、寬 B、後壁與側壁高 wall)中依網格填充剛體球至深度 h0 的場景 MJCF(不需 mujoco)。槽是 mocap body(name="trough"，原點 = 口部底面的邊緣，高度 lip_height)，由 scoop_mujoco_pour 每步寫入 mocap_quat 使其朝口部向下的方向(繞 y 軸 −θ)旋轉。底面粗糙(滑動摩擦 floor_mu，底層不會隨底面整體滑出 —— 作用與 granular 的粗糙台相同)，側壁為 wall_mu。底面的口部一側(x < 0)敞開，灑出的球會落到地面(高度 0)。回傳：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 / 連 1 層球都放不下 / 拼寫錯誤。
• 範例資料目錄(下載 URL / 授權) —— 2-D 用 skimage.data(BSD/公有領域)加合成圖,3-D 給出真實資料源(Stanford/PDS 等)的下載 URL。
• 運算子來歷與參考文獻 —— 該運算子族所依據的研究/方法出處。
• 演算法的正典(作者、年份)與用途見上面的族使用指南。
• poc_powder_scoop_pour — py -3.11 examples/poc_powder_scoop_pour.py
table 作為輸入)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 運算子登記表。本條目由 tools/opdocs.py md 自動產生(請勿手動編輯)。*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.