pressure_first_moment — DRIVE tactorque op

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

• Call: import fullseye as fs; fs.ledger.pressure_first_moment(p, X, Y, pitch: 'float') -> 'dict' (to call the implementation directly, import tactorque; tactorque.pressure_first_moment(p, X, Y, pitch: 'float') -> 'dict'; from the registry, opsdrive.get("pressure_first_moment"))

Usage

0th and 1st moments of a pressure p (n, n) [Pa] on a grid: P = Σ p h² [N], M1 = Σ (x, y) p h² [N·m], tau = (−M1_y, M1_x) (z points from the gel to the object; moment of the force −ẑ p with which the object presses on the gel). Raises ValueError: shapes differ, 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 · 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.