hi, I looked up torsion tensor derivation on 2 different books, and encountered 2 different situations, so my mind has been confused. For the first image, I could totally understand how torsion tensor was derived, but for the second image although there are similar things, I can not make a connection between 2 images. For instance, in first image torsion tensor is between r1 and r2 points, but this torsion tensor does not correspond to torsion tensor in second image, because instead there is a [u,v] vector. Besides, as you can see "sr1" is the parallel transported vector according to first image and resembles the vector "uR" ( appearance of these 2 vectors is same I think), butis parallel transported vector according to second image ( it is really parallel tovector, but for the first image the parallel transported vector ("sr1" ) is not really parallel to " pq " vector. To sum up, Could you please help me understand these 2 different situation, and express or explain the truth???