pegfail op• Data kinds: any → table
• Call: import fullseye as fs; fs.ledger.insertion_recovery_primitive(name: 'str') -> 'dict' (to call the implementation directly, import pegfail; pegfail.insertion_recovery_primitive(name: 'str') -> 'dict'; from the registry, opsdrive.get("insertion_recovery_primitive"))
Table of recovery primitives (class → description of the motion). name is a recovery word of the table.
lift_recentre: raise the tip to 6 mm above the plate, measure (dx, dy) with the wrist RGB-D, shift the carriage (≤ 6 times), and descend again. lift_reapproach: raise to 10 mm above the mouth, return the carriage to the fixture's target coordinates, align with the camera, and descend again. retract_reduce_tilt: retract 4 mm, measure the wrist hinge angle and undo the grasp tilt by that amount (θ → 0), then descend again (towards θ ≤ c/μ of p.28). steer_force: evaluate the parallelogram margin with a linear model and, from the 3 × 3 combinations of a 0.5 mm lateral carriage move (F_x and M = L_g F_x move together) and a 0.5° wrist rotation (only M moves, by k_r Δ), choose the one with the largest margin; ≤ 6 steps until it advances (Whitney p.34: bring the force ratio into the diagram). lift_abort: retract and finish (an obstacle cannot be cleared by pushing). continue: do nothing. stop: done. Raises ValueError: unknown name (spelling corruption is fail-closed).
• 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 · 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.