grasp_torque_frame — DRIVE tactorque op

• Data kinds: image2d × image2d × scalar × scalar × scalar × scalar × scalar × scalar → table

• Call: import fullseye as fs; fs.ledger.grasp_torque_frame(m_ref, m_cur, dark: 'float', pitch_px: 'float', r_px: 'float', pitch: 'float', G: 'float', nu: 'float', a: 'float | None' = None, window=None, coef: 'float | None' = None) -> 'dict' (to call the implementation directly, import tactorque; tactorque.grasp_torque_frame(m_ref, m_cur, dark: 'float', pitch_px: 'float', r_px: 'float', pitch: 'float', G: 'float', nu: 'float', a: 'float | None' = None, window=None, coef: 'float | None' = None) -> 'dict'; from the registry, opsdrive.get("grasp_torque_frame"))

Usage

> This operator's description has not been translated yet. The original text follows as it is.

像から 1 回で: 基準・現在のマーカー像(:func:tacslip.marker_image)→ :func:tacslip.marker_track → m 単位の場 → :func:torque_decompose。

`pitch_px・r_px = マーカー格子と半径 [px]、pitch = m/px、window` は [px] の (cx, cy, R)。マーカー 1 個あたりの面積 = (pitch_px·pitch)²、

発散の近傍半径 = 1.5 ピッチ。返り = torque_decompose の表 + `track`(matched・n0・n1・p0・u [px])。

Raises ValueError: 追跡の対応が 9 個未満(双極子に足りない)、pitch ≤ 0。

References (sample data, literature)

• 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.

Runnable examples (verified samples that actually call this op)

• poc_tactile_dipole_torque — py -3.11 examples/poc_tactile_dipole_torque.py

Ops the type connects to (they accept table as input)

course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same

Same category (tactorque)

punch_pressure · punch_surface_uz · hertz_pressure_shifted · ellipse_pressure_shifted · pressure_first_moment · boussinesq_kernel · boussinesq_surface_displacement · surface_divergence_closed_form

*Provenance: tactorque.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.