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"))
> This operator's description has not been translated yet. The original text follows as it is.
場面の MJCF 文字列(mujoco 不要): 穴 = 内接面が半径 R の箱 n_seg 個の環 + 45° の面取りの環 + 口の面の襟 + 四角い枠、
位置制御の搬送台(x, y, z のスライド)に 6 つのばね関節の柔らかい手首、その先にペグ(円柱)。手首カメラは搬送台の 60 mm 後ろ・
20 mm 上から 45° 下向き、側面カメラは固定。
`lg = 先端から回転のコンプライアンス中心までの距離(None → 手首原点 = ペグ長、0 → 先端に中心 = RCC)。offsamples` は
MSAA(RGB 用 4、depth 用 0 で別にコンパイルする —— 深度はサンプル 0 の位置になる罠)。`<quality numslices="128">` で円柱の
多角形近似を 0.0015 % に(既定 28 では半径が 0.04 mm 内側)。単位 m、口の面 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.