pegsim 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.peg_params(r: 'float' = 0.005, R: 'float' = 0.0052, hole_depth: 'float' = 0.02, chamfer: 'float' = 0.001, chamfer_deg: 'float' = 45.0, peg_length: 'float' = 0.04, mu: 'float' = 0.3, n_seg: 'int' = 36, k_trans: 'float' = 600.0, k_rot: 'float' = 1.5, image_size=(640, 480), fovy_deg: 'float' = 40.0) -> 'dict' (to call the implementation directly, import pegsim; pegsim.peg_params(r: 'float' = 0.005, R: 'float' = 0.0052, hole_depth: 'float' = 0.02, chamfer: 'float' = 0.001, chamfer_deg: 'float' = 45.0, peg_length: 'float' = 0.04, mu: 'float' = 0.3, n_seg: 'int' = 36, k_trans: 'float' = 600.0, k_rot: 'float' = 1.5, image_size=(640, 480), fovy_deg: 'float' = 40.0) -> 'dict'; from the registry, opsdrive.get("peg_params"))
Table of peg and hole dimensions (m, rad): peg radius r, hole radius R, hole depth, chamfer width and angle, peg length, friction coefficient, wrist stiffness, wrist camera.
Defaults are the prototype dimensions: r = 5.0 mm, R = 5.2 mm (radial clearance 0.2 mm, c = 0.0385), depth 20 mm, 1 mm chamfer at 45°, peg 40 mm, μ = 0.3 (MuJoCo sliding friction). n_seg is the number of boxes approximating the hole wall (MJCF); k_trans [N/m] and k_rot [N m/rad] are the translational and rotational stiffness of the wrist (compliant support); image_size and fovy_deg are for the wrist camera. Raises ValueError: r ≤ 0, R ≤ r, chamfer deeper than the hole, μ < 0, chamfer angle outside (0°, 90°).
• 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.
• gallery_drive_peg — py -3.11 examples/gallery_drive_peg.py
• 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
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
pegsim)whitney_clearance · two_point_depth · wedging_check · jamming_diagram · chamfer_capture · contact_state_predict · circle_fit_known_radius · cylinder_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.