diabolo_scene_mjcf — DRIVE `diabolo` op

• Data kinds: table → any

• Call: import fullseye as fs; fs.ledger.diabolo_scene_mjcf(params: 'dict', *, timestep: 'float' = 0.00025, solref=(0.0005, 1.0), wrap_axle: 'bool' = False) -> 'str' (to call the implementation directly, import diabolo; diabolo.diabolo_scene_mjcf(params: 'dict', *, timestep: 'float' = 0.00025, solref=(0.0005, 1.0), wrap_axle: 'bool' = False) -> 'str'; from the registry, opsdrive.get("diabolo_scene_mjcf"))

Usage

MJCF string of the second (independent) implementation's scene (mujoco not required): spatial tendon stick tip → diabolo → stick tip with length limit = string (a one-sided constraint = pulls only when stretched, i.e. the same physics as the exact frictionless-pulley model, solved by a different method: soft constraints and implicit velocity updates). The stick tips are mocap (positions written each step). The diabolo is a free-joint rigid body (mass = Table I of the paper, inertia assumed; rotation is not coupled to the string). If wrap_axle = True, the tendon wraps around the axle cylinder (radius r) (passing underneath, unverified). Raises ValueError: params shape, timestep ≤ 0, solref is not 2 positive numbers.

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_diabolo_model_and_vision — py -3.11 examples/poc_diabolo_model_and_vision.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 (`diabolo`)

diabolo_params · diabolo_spheroid · spheroid_closest · diabolo_dynamics_step · diabolo_simulate · diabolo_state_sequence · diabolo_throw_catch_truth · string_tension_static

*Provenance: diabolo.py — DRIVE operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

diabolo_scene_mjcf — DRIVE diabolo op