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"))
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).
Depth is the +Z distance at the pixel centre (the convention of real RGB-D and Fullseye); colour is the mean of a supersample²-fold supersampling (anti-aliasing = coverage). This is input for building the gate of the measurement (peg_offset_from_rgbd) without mujoco; it is not a substitute for MuJoCo rendering (shadows, lighting and chamfer slopes are not drawn). Returns: rgb (H, W, 3) uint8, depth (H, W), K, R/t (world → camera), R_cam_to_world, tip/axis (ground truth), uv_tip/uv_hole (projection of the ground truth). Raises ValueError: axis is zero, size too small.
• 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)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.