tilt_shear_field — DRIVE tactorque op

• Data kinds: matrix × matrix × table → table

• Call: import fullseye as fs; fs.ledger.tilt_shear_field(p_before, p_after, kern: 'dict') -> 'dict' (to call the implementation directly, import tactorque; tactorque.tilt_shear_field(p_before, p_after, kern: 'dict') -> 'dict'; from the registry, opsdrive.get("tilt_shear_field"))

Usage

Exactly the paper's "zero after grasping" procedure: convolves the difference Δp between the pressure p_before right after grasping and the pressure p_after after the torque with the Boussinesq kernel, and returns the zeroed marker displacements ux, uy (, uz) and dp. If the 0th moment of Δp is 0 (normal force unchanged), the dipole does not depend on the origin. Raises ValueError: the 2 arrays differ in shape.

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.