peghole: add 4 flipped offsets (8 total) for end-to-end peg symmetry

Props/Custom/PegHole/metadata.yaml

@@ -1,6 +1,11 @@
-# Cylindrical peg: 4 valid yaw orientations approximate full rotational symmetry
-# (worst yaw error before failure is +/-45 deg). First entry is canonical and
-# is used wherever a single canonical pose is required (spawning, distance metrics).
+# Cylindrical peg: 8 valid orientations approximate full O(2) symmetry
+# (continuous yaw around the long axis × 180-deg flip around perpendicular).
+# - Entries 0-3: 4 yaw rotations (worst yaw error before failure is +/-45 deg).
+# - Entries 4-7: same 4 yaws composed with a 180-deg flip around x — i.e.,
+#   peg upside-down (gripper holds the other end). Valid because peg is
+#   geometrically symmetric end-to-end.
+# First entry is canonical and is used wherever a single canonical pose is
+# required (spawning, distance metrics).
 assembled_offsets:
   - pos: [0.0, 0.0, 0.014837]
     quat: [1.0, 0.0, 0.0, 0.0]                                     # yaw =   0 deg (canonical)
@@ -10,6 +15,14 @@ assembled_offsets:
     quat: [6.123233995736766e-17, 0.0, 0.0, 1.0]                   # yaw = 180 deg
   - pos: [0.0, 0.0, 0.014837]
     quat: [-0.7071067811865475, 0.0, 0.0, 0.7071067811865476]      # yaw = -90 deg
+  - pos: [0.0, 0.0, 0.014837]
+    quat: [0.0, 1.0, 0.0, 0.0]                                     # yaw =   0 deg + flip-x
+  - pos: [0.0, 0.0, 0.014837]
+    quat: [0.0, 0.7071067811865476, 0.7071067811865475, 0.0]       # yaw = +90 deg + flip-x
+  - pos: [0.0, 0.0, 0.014837]
+    quat: [0.0, 6.123233995736766e-17, 1.0, 0.0]                   # yaw = 180 deg + flip-x
+  - pos: [0.0, 0.0, 0.014837]
+    quat: [0.0, 0.7071067811865476, -0.7071067811865475, 0.0]      # yaw = -90 deg + flip-x
 bottom_offset:
   pos: [0.0, 0.0, -0.015163]
   quat: [1.0, 0.0, 0.0, 0.0]