peg_synthetic_rgbd — DRIVE `pegsim` op

• Data kinds: table → table

• Call: import fullseye as fs; fs.ledger.peg_synthetic_rgbd(kp=None, tip_xyz=(0.002, 0.001, 0.01), axis=(0.0, 0.0, 1.0), width: 'int' = 320, height: 'int' = 240, supersample: 'int' = 4, cam_pos=(-0.06, 0.0, 0.07), fovy_deg: 'float' = 40.0) -> 'dict' (to call the implementation directly, import pegsim; pegsim.peg_synthetic_rgbd(kp=None, tip_xyz=(0.002, 0.001, 0.01), axis=(0.0, 0.0, 1.0), width: 'int' = 320, height: 'int' = 240, supersample: 'int' = 4, cam_pos=(-0.06, 0.0, 0.07), fovy_deg: 'float' = 40.0) -> 'dict'; from the registry, opsdrive.get("peg_synthetic_rgbd"))

Usage

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

真値つきの合成 RGB-D(numpy だけ、mujoco 不要): 板 z = 0(灰)、穴の円盤(半径 R + W、黒、4 mm 下の面)、ペグ(半径 r の円柱 +

先端の円盤、橙)を手首カメラ(45° 下向き、MJCF と同じ向き)から解析的にレイキャストする。

深度は画素中心の +Z 距離(実物の RGB-D と Fullseye の規約)、色は `supersample`² 倍の超標本の平均(反エイリアス = 被覆率)。

計測(:func:peg_offset_from_rgbd)の門を mujoco 無しで立てるための入力で、MuJoCo の描画の代わりではない(影・照明・面取りの

斜面は描かない)。返り: `rgb(H, W, 3) uint8、depth(H, W)、K、R・t(世界 → カメラ)、R_cam_to_world`、

`tip・axis(真値)、uv_tip・uv_hole(真値の投影)。**Raises** ValueError`: axis がゼロ、大きさが小さすぎる。

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

• poc_peg_insertion_tactile — py -3.11 examples/poc_peg_insertion_tactile.py

• poc_pegsim_insertion — py -3.11 examples/poc_pegsim_insertion.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 (`pegsim`)

peg_params · whitney_clearance · two_point_depth · wedging_check · jamming_diagram · chamfer_capture · contact_state_predict · circle_fit_known_radius

*Provenance: pegsim.py — DRIVE operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

peg_synthetic_rgbd — DRIVE pegsim op