insertion_failure_table — DRIVE `pegfail` op

• Data kinds: none → table (an op determined by its arguments alone — it takes no image or data input)

• Call: import fullseye as fs; fs.ledger.insertion_failure_table() -> 'list' (to call the implementation directly, import pegfail; pegfail.insertion_failure_table() -> 'list'; from the registry, opsdrive.get("insertion_failure_table"))

Usage

> This operator's description has not been translated yet. The original text follows as it is.

失敗分類表(データ): 各行 = {`cls, when(欄 → 許す値の集合、"*" = 何でも), recovery, basis`}。

行の根拠(`basis`)は Whitney 1982(OCW スライドの頁)か接触形成の幾何。順番に意味は無い —— 署名に当たる行は 高々 1 行

(:func:insertion_failure_validate が全ペアで確かめる)。回復プリミティブの語彙は :func:insertion_recovery_primitive。

表(接触 / 深さの帯 / 進み / くさび / かじり / ずれ → クラス → 回復):

• none|plate, above|mouth, stalled, *, *, large → `missed_hole` → lift_recentre(先端が面取りに乗れない |ε₀| > W + c_r、導出 (4))

• chamfer, above|mouth, *, *, *, small → `chamfer_sliding` → continue(面取り通過は正常な過程、OCW p.26)

• plate, above|mouth, advancing, *, *, * → `nominal` → continue(板に触れたがまだ進んでいる = 柔らかい接触の過渡)

• chamfer|one_point|two_point|floor, *, *, *, *, large → `wrong_hole` → lift_reapproach(接触はあるが治具の目標穴から W + c_r 以上離れている)

• one_point, mouth|hole, advancing, *, *, small → `nominal` → continue(一点接触で進む、p.26)

• two_point, hole, advancing, *, *, small → `nominal` → continue(二点接触で進む = 平行四辺形の中、p.34)

• two_point, hole, stalled, over, *, small → `wedging` → retract_reduce_tilt(θ > c/μ、p.28)

• two_point, hole, stalled, below, outside, small → `jamming` → steer_force(力の比が平行四辺形の外、p.34)

• one_point, mouth|hole, stalled, *, outside, small → `jamming` → steer_force(一点接触の摩擦限界 |F_x/F_z| > 1/μ = 縦の辺)

• floor, hole, *, *, *, small → `blocked_hole` → lift_abort(底に届く前に硬い物に当たった)

• floor, bottom, *, *, *, small → `seated` → stop(底着 = 完了)

• none, *, advancing, *, *, * → `nominal` → continue(空中で降下中)

当たらない例(わざと unknown): plate・stalled・small(面取りの内側で板に乗って止まるのは幾何的に不可能 = 計測の矛盾)、

two_point・stalled・below・inside(Whitney なら滑るはずの停滞 = 模型の外)、none・stalled・small(押していないのに止まる)。

References (sample data, literature)

• 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.

Runnable examples (verified samples that actually call this op)

• poc_peg_failure_recovery — py -3.11 examples/poc_peg_failure_recovery.py

Ops the type connects to (they accept `table` as input)

course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same

Same category (`pegfail`)

insertion_failure_validate · insertion_signature · 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).*

insertion_failure_table — DRIVE pegfail op