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.
obs: contact_kind ("none"|"plate"|"chamfer"|"one_point"|"two_point"|"floor"), depth [m] (from the plane of the mouth, negative = in the air), stalled (bool, insertion_stall_detect), theta_onset (tilt [rad] when two-point contact began; tilt if absent), fx_over_fz, m_over_rfz (force ratios at the tip; None if F_z ≤ 0), depth_l (Whitney's l = depth from the narrowest part; depth − W if omitted), offset [m] (in-plane offset of the tip from the hole centre). Field boundaries: zone is depth < 0 → above, < W → mouth, < hole_depth − 1 mm → hole, otherwise → bottom. wedge is θ_onset > c/μ → over. jam is inside of jamming_force_check for two_point, for one_point |F_x/F_z| ≤ 1/μ, otherwise or with no force → na. offset is |ε| > W + c_r → large (pegsim.chamfer_capture). Raises ValueError: unknown contact_kind, depth missing.
• 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.