pegsim op• Data kinds: table → any
• Call: import fullseye as fs; fs.ledger.peg_scene_mjcf(kp=None, lg: 'float | None' = None, offsamples: 'int' = 4, timestep: 'float' = 0.0005) -> 'str' (to call the implementation directly, import pegsim; pegsim.peg_scene_mjcf(kp=None, lg: 'float | None' = None, offsamples: 'int' = 4, timestep: 'float' = 0.0005) -> 'str'; from the registry, opsdrive.get("peg_scene_mjcf"))
MJCF string of the scene (no mujoco needed): hole = a ring of n_seg boxes whose inscribed surface has radius R + a ring for the 45° chamfer + a collar at the mouth surface + a square frame; a position-controlled carriage (x, y, z slides) carrying a compliant wrist of 6 spring joints, with the peg (cylinder) at its end. The wrist camera looks 45° down from 60 mm behind and 20 mm above the carriage; the side camera is fixed.
lg = distance from the tip to the rotational compliance centre (None → wrist origin = peg length, 0 → centre at the tip = RCC). offsamples is MSAA (4 for RGB, compiled separately with 0 for depth — trap: depth would come from the position of sample 0). <quality numslices="128"> brings the cylinder's polygonal approximation to 0.0015 % (with the default 28 the radius is 0.04 mm inside). Units m, mouth face at z = 0.
• 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.
• poc_pegsim_insertion — py -3.11 examples/poc_pegsim_insertion.py
any as input)course_crank · course_s_curve · course_turnaround · course_slope · course_intersection · course_parallel_parking · course_crossing · course_road
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.