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"))
> This operator's description has not been translated yet. The original text follows as it is.
手首 RGB-D 1 枚から手首の並進たわみと傾き: ペグの画素(pegsim の色分類)→ depth の点群 → PCA の軸 → 既知半径の円柱当てはめ
(:func:pegsim.cylinder_fit_known_radius)→ 世界系の軸の直線 → 搬送台の系(エンコーダで既知の位置 `carriage_pos` を引く)で
ヒンジの高さ z = `hinge_z` を通る点 = (Δx, Δy)。軸の向きから傾き (θ_x, θ_y) を atan2 で。円柱の軸方向の位置は見えないので
Δz は出さない(正直に: 手首の z 圧縮は k̂ と触覚の F_z で補う、:func:pegtactile_process_episode)。
返り `dx・dy・axis・tilt_x・tilt_y・rms_cyl・n_pts`。
Raises ValueError: 形が合わない、ペグの画素が 50 未満(見えない)。
• 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.