peg_offset_from_rgbd — DRIVE pegsim op

• Data kinds: rgb × image2d × matrix × matrix → table

• Call: import fullseye as fs; fs.ledger.peg_offset_from_rgbd(rgb, depth, K, R_cam_to_world, r_peg: 'float' = 0.005, hole_radius: 'float | None' = None) -> 'dict' (to call the implementation directly, import pegsim; pegsim.peg_offset_from_rgbd(rgb, depth, K, R_cam_to_world, r_peg: 'float' = 0.005, hole_radius: 'float | None' = None) -> 'dict'; from the registry, opsdrive.get("peg_offset_from_rgbd"))

Usage

Relative offset (dx, dy) [m] of the peg tip with respect to the hole center, in world (carriage) coordinates, from 1 wrist RGB-D frame — the observation for visual servoing.

R_cam_to_world is the 3×3 that rotates camera-frame vectors into the world (hand-eye). The offset is the in-plane component of the board; height is the height of the tip above the board. Given hole_radius, the hole circle is fitted with a known radius (hole_centre_from_rgbd).

Returns: hole and tip (dict of each measurement), dx, dy, height. Prototype (16 poses): max of |dx|, |dy| 0.010 mm.

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.