pegfail op• Data kinds: table → table
• Call: import fullseye as fs; fs.ledger.insertion_failure_presets(kp=None) -> 'dict' (to call the implementation directly, import pegfail; pegfail.insertion_failure_presets(kp=None) -> 'dict'; from the registry, opsdrive.get("insertion_failure_presets"))
Default failures to inject (each class → arguments of pegfail_episode_run). The numbers come from Whitney's boundaries: missed_hole = ε₀ 2.5 mm (> W + c_r = 1.2 mm) / wedging = μ 0.8, θ₀ 4.5° (c/μ = 2.76°) / jamming = θ₀ 3° (below 7.35°, so no wedging at μ = 0.3); after the tip is 4 mm in, the carriage's lateral target is shifted +3.0 mm toward the tilt side and held (wrist spring 600 N/m → F_x ≤ 1.8 N; the hinge is 40 mm from the tip, so M/(rF_z) crosses the slanted edge of the parallelogram. Measured: at −3.0 mm (opposite side) it slides in; at +1.6 mm it stops but the ratio is inside = unknown) / blocked_hole = plug at depth 6 mm / wrong_hole = heads for a decoy hole 26 mm to the side / nominal = ε₀ 0.5 mm, θ₀ 1.5°.
• 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_peg_failure_recovery — py -3.11 examples/poc_peg_failure_recovery.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
pegfail)insertion_failure_table · insertion_failure_validate · insertion_signature · insertion_failure_classify · insertion_recovery_primitive · jamming_parallelogram_planar · jamming_force_check · wedging_risk
*Provenance: pegfail.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.