tactorque op• Data kinds: matrix × matrix → table
• Call: import fullseye as fs; fs.ledger.rigid_rotation_fit(pts, u, window=None) -> 'dict' (to call the implementation directly, import tactorque; tactorque.rigid_rotation_fit(pts, u, window=None) -> 'dict'; from the registry, opsdrive.get("rigid_rotation_fit"))
Fits a rigid displacement u ≈ t + ω ẑ×r to the marker field inside a window by least squares: t = mean displacement, omega = Σ (x′u′_y − y′u′_x)/Σ r′² (′ = with the window mean subtracted), resid_rms = residual RMS, n. In no-slip torsion the inside of the circle rotates rigidly (u_θ = βr), so ω = β is the ground truth (the mean curl/2 comes out low because the fit leaks outside at the circle edge — 11 % measured). window = (cx, cy, R). Raises ValueError: fewer than 3 points.
• 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_knife_tactile_toughness — py -3.11 examples/poc_knife_tactile_toughness.py
• 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.