pegtactile op• Data kinds: rgb × image2d × matrix × matrix × signal × signal × scalar → table
• Call: import fullseye as fs; fs.ledger.wrist_deflection_from_rgbd(rgb, depth, K, R_cam_to_world, cam_w, carriage_pos, r_peg: 'float', hinge_z: 'float' = 0.0) -> 'dict' (to call the implementation directly, import pegtactile; pegtactile.wrist_deflection_from_rgbd(rgb, depth, K, R_cam_to_world, cam_w, carriage_pos, r_peg: 'float', hinge_z: 'float' = 0.0) -> 'dict'; from the registry, opsdrive.get("wrist_deflection_from_rgbd"))
Translational deflection and tilt of the wrist from 1 wrist RGB-D frame: peg pixels (pegsim color classification) → depth point cloud → PCA axis → cylinder fit with known radius (pegsim.cylinder_fit_known_radius) → axis line in the world frame → in the carriage frame (subtracting the encoder-known position carriage_pos), the point at hinge height z = hinge_z = (Δx, Δy). Tilt (θ_x, θ_y) from the axis direction via atan2. The cylinder's axial position is not visible, so Δz is not reported (honestly: the wrist's z compression is covered by k̂ and the tactile F_z, pegtactile_process_episode). Returns dx, dy, axis, tilt_x, tilt_y, rms_cyl, n_pts. Raises ValueError: shapes do not match, fewer than 50 peg pixels (not visible).
• 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.
• (none yet)
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
pegtactile)pad_params · pad_context · peg_wrench_to_pad_loads · pad_loads_to_peg_wrench · pad_shear_asymmetry · pad_marker_displacement · pad_tactile_frame · pad_tactile_read
*Provenance: pegtactile.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.