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

Synthetic RGB-D with ground truth (numpy only, no mujoco needed): analytically ray-casts the board z = 0 (gray), the hole disk (radius R + W, black, surface 4 mm below), and the peg (cylinder of radius r + tip disk, orange) from the wrist camera (looking 45° down, same orientation as in the MJCF).

> The detailed description below is the original text — the summary and the headings are translated.

深度は画素中心の +Z 距離(実物の RGB-D と Fullseye の規約)、色は supersample² 倍の超標本の平均(反エイリアス = 被覆率)。計測(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).*

© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.