tactorque op• Data kinds: matrix × matrix × table → matrix
• Call: import fullseye as fs; fs.ledger.hertz_pressure_shifted(X, Y, hz: 'dict', d=(0.0, 0.0)) -> 'np.ndarray' (to call the implementation directly, import tactorque; tactorque.hertz_pressure_shifted(X, Y, hz: 'dict', d=(0.0, 0.0)) -> 'np.ndarray'; from the registry, opsdrive.get("hertz_pressure_shifted"))
Hertz pressure p0 √(1 − r′²/a²) [Pa] with its center shifted to d = (dx, dy) [m] (hz = the table of tacsim.hertz_sphere). For a grasped sphere under a small tilting torque τ, the pressure center moves by d = τ/P (quasi-static moment balance), so the 1st moment of the shifted Hertz pressure about the original center is P·d = τ (exactly linear). Raises ValueError: hz has no a/p0, X and Y differ in shape.
• 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
matrix as input)world_camera · lidar_scan · relative_motion · foe_from_motion · flow_from_depth_motion · ttc_truth · world_materials · mesh_signed_volume
tactorque)punch_pressure · punch_surface_uz · ellipse_pressure_shifted · pressure_first_moment · boussinesq_kernel · boussinesq_surface_displacement · surface_divergence_closed_form · tilt_shear_field
*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.