pegfail op• Data kinds: table × table → table
• Call: import fullseye as fs; fs.ledger.insertion_signature(obs, kp=None, stall=None, lateral_tol: 'float' = 0.0) -> 'dict' (to call the implementation directly, import pegfail; pegfail.insertion_signature(obs, kp=None, stall=None, lateral_tol: 'float' = 0.0) -> 'dict'; from the registry, opsdrive.get("insertion_signature"))
Discretizes continuous observations into a signature in the table's vocabulary.
> The detailed description below is the original text — the summary and the headings are translated.
obs: contact_kind("none"|"plate"|"chamfer"|"one_point"|"two_point"|"floor")、depth [m] (口の面から、負は空中)、stalled(bool、insertion_stall_detect)、theta_onset(二点接触が始まった時の傾き [rad]、無ければ tilt)、fx_over_fz・m_over_rfz(先端の力の比、F_z ≤ 0 なら None)、depth_l(Whitney の l = 最狭部からの深さ、省略時 depth − W)、offset [m] (先端の穴中心からの面内ずれ)。欄の境目: zone は depth < 0 → above、< W → mouth、< hole_depth − 1 mm → hole、それ以上 → bottom。wedge は θ_onset > c/μ → over。jam は two_point なら jamming_force_check の inside、one_point なら |F_x/F_z| ≤ 1/μ、それ以外・力が無い → na。offset は |ε| > W + c_r → large(pegsim.chamfer_capture)。Raises ValueError: 未知の contact_kind、depth が無い。
• 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_failure_classify · insertion_recovery_primitive · jamming_parallelogram_planar · jamming_force_check · wedging_risk · insertion_stall_detect
*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.