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, P: 'float | None' = None, mu: 'float | None' = None, torsion_model: 'str' = 'partial_slip') -> '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, P: 'float | None' = None, mu: 'float | None' = None, torsion_model: 'str' = 'partial_slip') -> 'dict'; from the registry, opsdrive.get("grasp_torque_frame"))
From images in 1 pass: reference and current marker images (tacslip.marker_image) → tacslip.marker_track → field in meters → torque_decompose. pitch_px, r_px = marker grid pitch and radius [px], pitch = m/px, window is (cx, cy, R) in [px]. Area per 1 marker = (pitch_px·pitch)², neighborhood radius for the divergence = 1.5 pitch. P, mu, torsion_model set the torsion conversion (torque_decompose; the default, partial slip of Hertz contact, needs P and mu; for a flat punch use "no_slip"). Returns the torque_decompose table + track (matched, n0, n1, p0, u [px]). Raises ValueError: fewer than 9 tracked correspondences (not enough for the dipole), pitch ≤ 0, ValueError from torque_decompose.
• 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_tactile_dipole_torque — py -3.11 examples/poc_tactile_dipole_torque.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
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.