tacslip op• Data kinds: matrix × scalar × scalar × scalar × scalar → matrix
• Call: import fullseye as fs; fs.ledger.hertz_surface_ur(r, a: 'float', p0: 'float', G: 'float', nu: 'float') -> 'np.ndarray' (to call the implementation directly, import tacslip; tacslip.hertz_surface_ur(r, a: 'float', p0: 'float', G: 'float', nu: 'float') -> 'np.ndarray'; from the registry, opsdrive.get("hertz_surface_ur"))
Radial displacement ūr [m] of the half-space surface produced by a normal load (Hertz pressure p0√(1−r²/a²)) (Johnson 1985 Eq. 3.41b rewritten with E = 2G(1+ν)). Negative = toward the center. Inside −(1−2ν)p0a²/(6Gr)[1 − (1−r²/a²)^{3/2}], outside −(1−2ν)p0a²/(6Gr) (= point load −(1−2ν)P/(4πGr)), 0 as r → 0. The maximum is not at the edge but at r ≈ 0.93a (1.022 times ūr(a)). ūr(a)/δ = 2(1−2ν)/(3π(1−ν)) (1.6 % at ν 0.48, 12 % at ν 0.3) — in a nearly incompressible gel the markers barely move under normal load. Raises ValueError: a, p0, G ≤ 0.
• 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_tacsim_marker_shear — py -3.11 examples/poc_tacsim_marker_shear.py
• 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
tacslip)mindlin_partial_slip · mindlin_traction · hertzian_tangential_inner · cerruti_kernel · cerruti_surface_displacement · membrane_shear_field · membrane_markers · displace_markers
*Provenance: tacslip.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.