granular op• Data kinds: matrix × scalar × scalar × scalar → table
• Call: import fullseye as fs; fs.ledger.heap_spheres_select(pos, radius: 'float', floor_height: 'float', bin_radius: 'float', keep_min: 'float' = 0.5) -> 'dict' (to call the implementation directly, import granular; granular.heap_spheres_select(pos, radius: 'float', floor_height: 'float', bin_radius: 'float', keep_min: 'float' = 0.5) -> 'dict'; from the registry, opsdrive.get("heap_spheres_select"))
Selects only the spheres that belong to the heap: below the bin's floor plate (z < floor_height − r) and within 3 times the bin radius. Spheres left in the bin (the flat-bottom dead zone) and spheres that rolled away are not part of the heap. Returns: pos (selected centers), n_in_bin, n_runaway, radius_95 (rough heap radius). Raises ValueError: fewer than keep_min remain (no heap formed — so that nothing is silently measured when 600 of 1,200 spheres ran off a smooth table).
• 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_granular_heap_repose — py -3.11 examples/poc_granular_heap_repose.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
granular)heap_volume_cone · heap_mass · heap_volume_heightmap · beverloo_rate · beverloo_fit · discharge_synth · dispense_mass_from_video · hopper_discharge_rate
*Provenance: granular.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.