scoop op• 数据种类:scalar × scalar × scalar × scalar → table
• 调用: 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'(要直接调用实现,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';从台账取用则 opsdrive.get("pour_scene_mjcf"))
在开口槽(底长 L、宽 B、后壁与侧壁高 wall)中按网格填充刚体球至深度 h0 的场景 MJCF(无需 mujoco)。槽是 mocap body(name="trough"，原点 = 口部底面的边缘，高度 lip_height)，由 scoop_mujoco_pour 每步写入 mocap_quat 使其向口部朝下的方向(绕 y 轴 −θ)旋转。底面粗糙(滑动摩擦 floor_mu，底层不会随底面整体滑出 —— 作用与 granular 的粗糙台相同)，侧壁为 wall_mu。底面的口部一侧(x < 0)敞开，洒出的球会落到地面(高度 0)。返回：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 / 连 1 层球都放不下 / 拼写错误。
• 示例数据目录(下载 URL / 许可证) —— 2-D 用 skimage.data(BSD/公有领域)加合成图,3-D 给出真实数据源(Stanford/PDS 等)的下载 URL。
• 算子来历与参考文献 —— 该算子族所依据的研究/方法出处。
• 算法的正典(作者、年份)与用途见上面的族使用指南。
• poc_powder_scoop_pour — py -3.11 examples/poc_powder_scoop_pour.py
table 作为输入)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 算子登记表。本条目由 tools/opdocs.py md 自动生成(请勿手工编辑)。*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.