Actuation API reference¶

soromox.actuation ¶

Actuator ¶

Bases: Module


              flowchart TD
              soromox.actuation.Actuator[Actuator]

              

              click soromox.actuation.Actuator href "" "soromox.actuation.Actuator"

A transmission paired with an effort law and ordered channel metadata.

validate_for_robot ¶

validate_for_robot(robot: SoftRobot) -> None

Validate static component topology against robot.

ActuatorMetadata ¶

ActuatorMetadata(*, labels: tuple[str, ...], units: str | tuple[str, ...], kind: ActuatorKind = 'generic', lower_bounds: Array | None = None, upper_bounds: Array | None = None)

Bases: Module


              flowchart TD
              soromox.actuation.ActuatorMetadata[ActuatorMetadata]

              

              click soromox.actuation.ActuatorMetadata href "" "soromox.actuation.ActuatorMetadata"

Ordered labels, units, limits, and semantics for input channels.

DirectEffort ¶

Bases: EffortModel


              flowchart TD
              soromox.actuation.DirectEffort[DirectEffort]
              soromox.actuation.core.EffortModel[EffortModel]

                              soromox.actuation.core.EffortModel --> soromox.actuation.DirectEffort
                


              click soromox.actuation.DirectEffort href "" "soromox.actuation.DirectEffort"
              click soromox.actuation.core.EffortModel href "" "soromox.actuation.core.EffortModel"

Stateless effort model for which effort is exactly the user control.

EffortModel ¶

Bases: Module


              flowchart TD
              soromox.actuation.EffortModel[EffortModel]

              

              click soromox.actuation.EffortModel href "" "soromox.actuation.EffortModel"

Map controls to efforts work-conjugate to transmission coordinates.

effort `abstractmethod` ¶

effort(control: Array, coordinate: Array, velocity: Array) -> Array

Return actuator effort for the current control and transmission state.

IdentityActuator ¶

IdentityActuator(num_channels: int)

Bases: Actuator


              flowchart TD
              soromox.actuation.IdentityActuator[IdentityActuator]
              soromox.actuation.core.Actuator[Actuator]

                              soromox.actuation.core.Actuator --> soromox.actuation.IdentityActuator
                


              click soromox.actuation.IdentityActuator href "" "soromox.actuation.IdentityActuator"
              click soromox.actuation.core.Actuator href "" "soromox.actuation.core.Actuator"

Direct generalized-coordinate actuation used by default.

IdentityActuatorParams ¶

Bases: BaseSystemParams


              flowchart TD
              soromox.actuation.IdentityActuatorParams[IdentityActuatorParams]
              soromox.systems.params.BaseSystemParams[BaseSystemParams]

                              soromox.systems.params.BaseSystemParams --> soromox.actuation.IdentityActuatorParams
                


              click soromox.actuation.IdentityActuatorParams href "" "soromox.actuation.IdentityActuatorParams"
              click soromox.systems.params.BaseSystemParams href "" "soromox.systems.params.BaseSystemParams"

Empty immutable parameter object for identity actuation.

replace ¶

replace(**updates: Any) -> BaseSystemParams

Return a copy with selected fields replaced.

validate ¶

validate() -> None

Validate parameter consistency.

validate_against_structure ¶

validate_against_structure(structure: Any) -> None

Validate params against static construction choices.

IdentityTransmission ¶

IdentityTransmission(num_channels: int)

Bases: Transmission


              flowchart TD
              soromox.actuation.IdentityTransmission[IdentityTransmission]
              soromox.actuation.core.Transmission[Transmission]

                              soromox.actuation.core.Transmission --> soromox.actuation.IdentityTransmission
                


              click soromox.actuation.IdentityTransmission href "" "soromox.actuation.IdentityTransmission"
              click soromox.actuation.core.Transmission href "" "soromox.actuation.core.Transmission"

Identity generalized-coordinate transmission.

velocities ¶

velocities(robot: SoftRobot, q: Array, qd: Array) -> Array

Return transmission-coordinate velocities.

PassiveElement ¶

Bases: Module


              flowchart TD
              soromox.actuation.PassiveElement[PassiveElement]

              

              click soromox.actuation.PassiveElement href "" "soromox.actuation.PassiveElement"

Independent passive contribution to robot mechanics.

validate_for_robot ¶

validate_for_robot(robot: SoftRobot) -> None

Validate static component topology against robot.

Transmission ¶

Bases: Module


              flowchart TD
              soromox.actuation.Transmission[Transmission]

              

              click soromox.actuation.Transmission href "" "soromox.actuation.Transmission"

Map robot configuration to work-conjugate actuator coordinates.

num_channels `abstractmethod` `property` ¶

num_channels: int

Number of scalar transmission coordinates.

coordinates `abstractmethod` ¶

coordinates(robot: SoftRobot, q: Array) -> Array

Return transmission coordinates y_a(q).

moment_matrix `abstractmethod` ¶

moment_matrix(robot: SoftRobot, q: Array) -> Array

Return dy_a/dq.T with shape (num_dofs, num_channels).

velocities ¶

velocities(robot: SoftRobot, q: Array, qd: Array) -> Array

Return transmission-coordinate velocities.

AffineJointTransmission ¶

AffineJointTransmission(params: AffineJointTransmissionParams)

Bases: Transmission


              flowchart TD
              soromox.actuation.AffineJointTransmission[AffineJointTransmission]
              soromox.actuation.core.Transmission[Transmission]

                              soromox.actuation.core.Transmission --> soromox.actuation.AffineJointTransmission
                


              click soromox.actuation.AffineJointTransmission href "" "soromox.actuation.AffineJointTransmission"
              click soromox.actuation.core.Transmission href "" "soromox.actuation.core.Transmission"

Affine actuator coordinates R @ (q - q_ref) + y_a0.

velocities ¶

velocities(robot: SoftRobot, q: Array, qd: Array) -> Array

Return transmission-coordinate velocities.

AffineJointTransmissionParams ¶

Bases: BaseSystemParams


              flowchart TD
              soromox.actuation.AffineJointTransmissionParams[AffineJointTransmissionParams]
              soromox.systems.params.BaseSystemParams[BaseSystemParams]

                              soromox.systems.params.BaseSystemParams --> soromox.actuation.AffineJointTransmissionParams
                


              click soromox.actuation.AffineJointTransmissionParams href "" "soromox.actuation.AffineJointTransmissionParams"
              click soromox.systems.params.BaseSystemParams href "" "soromox.systems.params.BaseSystemParams"

Parameters for an affine mapping to actuator coordinates.

Attributes:

Name	Type	Description
`routing_matrix`	`Array`	Matrix `R` with shape `(num_channels, num_dofs)`. Each row is the derivative of one actuator coordinate with respect to the generalized coordinates.
`reference_configuration`	`Array`	Generalized configuration `q_ref` at which the affine displacement term is zero.
`coordinate_offset`	`Array`	Per-channel actuator coordinate `y_a0` at `q_ref`, in the same units as the actuator coordinate. Thus `y_a(q_ref) = y_a0` and the differential map is `dy_a/dq = R`. For passive tendon impedance, `y_a0` specifies the deformation and corresponding preload at `q_ref`.

replace ¶

replace(**updates: Any) -> BaseSystemParams

Return a copy with selected fields replaced.

validate_against_structure ¶

validate_against_structure(structure: Any) -> None

Validate params against static construction choices.

ArticulatedTendonActuator ¶

ArticulatedTendonActuator(*, params: ArticulatedTendonActuatorParams, labels: tuple[str, ...] | None = None, name: str = 'articulated_tendons')

Bases: Actuator


              flowchart TD
              soromox.actuation.ArticulatedTendonActuator[ArticulatedTendonActuator]
              soromox.actuation.core.Actuator[Actuator]

                              soromox.actuation.core.Actuator --> soromox.actuation.ArticulatedTendonActuator
                


              click soromox.actuation.ArticulatedTendonActuator href "" "soromox.actuation.ArticulatedTendonActuator"
              click soromox.actuation.core.Actuator href "" "soromox.actuation.core.Actuator"

Positive-tension actuation through fixed signed joint routing.

from_routing `classmethod` ¶

from_routing(routing_matrix: Array, *, reference_configuration: Array | None = None, coordinate_offset: Array | float = 0.0, lower_bounds: Array | float = 0.0, upper_bounds: Array | float = inf, labels: tuple[str, ...] | None = None, name: str = 'articulated_tendons') -> ArticulatedTendonActuator

Construct direct-tension actuation from signed joint routing.

The resulting actuator coordinate is routing_matrix @ (q - reference_configuration) + coordinate_offset. Each routing row is the signed contraction Jacobian of one tendon.

Parameters:

Name	Type	Description	Default
`routing_matrix`	`Array`	Signed tendon routing with one row per tendon and one column per generalized coordinate.	required
`reference_configuration`	`Array \| None`	Configuration `q_ref` used as the origin of the routing displacement. Defaults to zero.	`None`
`coordinate_offset`	`Array \| float`	Actuator coordinate `y_a0` at `q_ref`, as a scalar shared by all tendons or one value per tendon. Under `DirectEffort`, the generalized force is `R.T @ control`.	`0.0`
`lower_bounds`	`Array \| float`	Lower tension bounds, shared or per tendon.	`0.0`
`upper_bounds`	`Array \| float`	Upper tension bounds, shared or per tendon.	`inf`
`labels`	`tuple[str, ...] \| None`	Optional input label for each tendon.	`None`
`name`	`str`	Component name used for identification and rendering.	`'articulated_tendons'`

Returns:

Type	Description
`ArticulatedTendonActuator`	An articulated tendon actuator with direct tension effort.

ArticulatedTendonActuatorParams ¶

Bases: BaseSystemParams


              flowchart TD
              soromox.actuation.ArticulatedTendonActuatorParams[ArticulatedTendonActuatorParams]
              soromox.systems.params.BaseSystemParams[BaseSystemParams]

                              soromox.systems.params.BaseSystemParams --> soromox.actuation.ArticulatedTendonActuatorParams
                


              click soromox.actuation.ArticulatedTendonActuatorParams href "" "soromox.actuation.ArticulatedTendonActuatorParams"
              click soromox.systems.params.BaseSystemParams href "" "soromox.systems.params.BaseSystemParams"

Physical parameters for direct-effort articulated tendons.

replace ¶

replace(**updates: Any) -> BaseSystemParams

Return a copy with selected fields replaced.

validate_against_structure ¶

validate_against_structure(structure: Any) -> None

Validate params against static construction choices.

ArticulatedTendonImpedance ¶

ArticulatedTendonImpedance(*, params: ArticulatedTendonImpedanceParams, name: str = 'passive_articulated_tendons')

Bases: PassiveElement


              flowchart TD
              soromox.actuation.ArticulatedTendonImpedance[ArticulatedTendonImpedance]
              soromox.actuation.core.PassiveElement[PassiveElement]

                              soromox.actuation.core.PassiveElement --> soromox.actuation.ArticulatedTendonImpedance
                


              click soromox.actuation.ArticulatedTendonImpedance href "" "soromox.actuation.ArticulatedTendonImpedance"
              click soromox.actuation.core.PassiveElement href "" "soromox.actuation.core.PassiveElement"

Passive spring-damper mechanics in affine tendon coordinates.

from_routing `classmethod` ¶

from_routing(routing_matrix: Array, *, stiffness: Array, damping: Array, reference_configuration: Array | None = None, coordinate_offset: Array | float = 0.0, name: str = 'passive_articulated_tendons') -> ArticulatedTendonImpedance

Construct passive spring-damper mechanics in tendon coordinates.

Parameters:

Name	Type	Description	Default
`routing_matrix`	`Array`	Signed tendon routing with one row per passive tendon and one column per generalized coordinate.	required
`stiffness`	`Array`	Actuator-space stiffness, one value per tendon.	required
`damping`	`Array`	Actuator-space damping, one value per tendon.	required
`reference_configuration`	`Array \| None`	Configuration `q_ref` used as the origin of the routing displacement. Defaults to zero.	`None`
`coordinate_offset`	`Array \| float`	Tendon deformation `y_a0` at `q_ref`, as a scalar shared by all tendons or one value per tendon. Zero makes `q_ref` unstrained; a nonzero value creates elastic preload `R.T @ (stiffness * y_a0)`.	`0.0`
`name`	`str`	Component name used for identification and rendering.	`'passive_articulated_tendons'`

Returns:

Type	Description
`ArticulatedTendonImpedance`	A passive articulated tendon impedance component.

ArticulatedTendonImpedanceParams ¶

Bases: BaseSystemParams


              flowchart TD
              soromox.actuation.ArticulatedTendonImpedanceParams[ArticulatedTendonImpedanceParams]
              soromox.systems.params.BaseSystemParams[BaseSystemParams]

                              soromox.systems.params.BaseSystemParams --> soromox.actuation.ArticulatedTendonImpedanceParams
                


              click soromox.actuation.ArticulatedTendonImpedanceParams href "" "soromox.actuation.ArticulatedTendonImpedanceParams"
              click soromox.systems.params.BaseSystemParams href "" "soromox.systems.params.BaseSystemParams"

Spring-damper parameters for articulated tendon coordinates.

replace ¶

replace(**updates: Any) -> BaseSystemParams

Return a copy with selected fields replaced.

validate_against_structure ¶

validate_against_structure(structure: Any) -> None

Validate params against static construction choices.

ArticulatedMcKibbenActuator ¶

ArticulatedMcKibbenActuator(*, params: ArticulatedMcKibbenActuatorParams, labels: tuple[str, ...] | None = None, name: str = 'mckibben_muscles')

Bases: Actuator


              flowchart TD
              soromox.actuation.ArticulatedMcKibbenActuator[ArticulatedMcKibbenActuator]
              soromox.actuation.core.Actuator[Actuator]

                              soromox.actuation.core.Actuator --> soromox.actuation.ArticulatedMcKibbenActuator
                


              click soromox.actuation.ArticulatedMcKibbenActuator href "" "soromox.actuation.ArticulatedMcKibbenActuator"
              click soromox.actuation.core.Actuator href "" "soromox.actuation.core.Actuator"

Direct-pressure McKibben muscle actuator.

Controls are pressures in pascals. The transmission supplies equivalent volume coordinates, while diagnostic helpers expose effective lengths, endpoint segments, and signed axial forces. Installation requires a spatial articulated robot implementing the kinematic-frame contract; continuum hosts must use an appropriate continuum transmission instead.

empty `classmethod` ¶

empty(actuators_per_group: int = 4) -> ArticulatedMcKibbenActuator

Construct a zero-channel actuator with fixed empty group topology.

ArticulatedMcKibbenActuatorParams ¶

Bases: BaseSystemParams


              flowchart TD
              soromox.actuation.ArticulatedMcKibbenActuatorParams[ArticulatedMcKibbenActuatorParams]
              soromox.systems.params.BaseSystemParams[BaseSystemParams]

                              soromox.systems.params.BaseSystemParams --> soromox.actuation.ArticulatedMcKibbenActuatorParams
                


              click soromox.actuation.ArticulatedMcKibbenActuatorParams href "" "soromox.actuation.ArticulatedMcKibbenActuatorParams"
              click soromox.systems.params.BaseSystemParams href "" "soromox.systems.params.BaseSystemParams"

McKibben transmission and pressure bounds.

replace ¶

replace(**updates: Any) -> BaseSystemParams

Return a copy with selected fields replaced.

validate_against_structure ¶

validate_against_structure(structure: Any) -> None

Validate params against static construction choices.

ArticulatedMcKibbenTransmission ¶

ArticulatedMcKibbenTransmission(params: ArticulatedMcKibbenTransmissionParams)

Bases: Transmission


              flowchart TD
              soromox.actuation.ArticulatedMcKibbenTransmission[ArticulatedMcKibbenTransmission]
              soromox.actuation.core.Transmission[Transmission]

                              soromox.actuation.core.Transmission --> soromox.actuation.ArticulatedMcKibbenTransmission
                


              click soromox.actuation.ArticulatedMcKibbenTransmission href "" "soromox.actuation.ArticulatedMcKibbenTransmission"
              click soromox.actuation.core.Transmission href "" "soromox.actuation.core.Transmission"

Pressure-work transmission using McKibben volume coordinates.

The transmission owns fixed and moving attachment geometry for grouped universal joints on a spatial articulated host. It computes effective muscle lengths, the volume-like coordinate work-conjugate to pressure, its analytic moment matrix, and renderer-facing endpoint segments without embedding those mechanics in a particular articulated robot class.

velocities ¶

velocities(robot: SoftRobot, q: Array, qd: Array) -> Array

Return transmission-coordinate velocities.

local_segments ¶

local_segments(q: Array) -> Array

Return group-local fixed/moving endpoint segments.

Returns:

Type	Description
`Array`	Array with shape `(num_groups, actuators_per_group, 2, 3)`.
`Array`	Endpoint axis 2 is ordered as `[fixed, moving]`.

segments ¶

segments(robot, q: Array) -> Array

Return world-space actuator endpoint segments for rendering.

Returns:

Type	Description
`Array`	Array with shape `(num_channels, 2, 3)` whose endpoint axis is
`Array`	ordered as `[fixed, moving]`.

effective_lengths ¶

effective_lengths(q: Array) -> Array

Return effective McKibben muscle lengths.

For actuator i, the effective length is its current geometric endpoint distance minus reference_length[i] plus length_offset[i].

coordinates ¶

coordinates(robot, q: Array) -> Array

Return pressure-work coordinates for all McKibben muscles.

The coordinate is (B**2 - length**2) * length / (4*pi*N**2) and has volume units, making pressure its work-conjugate effort.

moment_matrix ¶

moment_matrix(robot, q: Array) -> Array

Return the analytic pressure-to-generalized-force matrix A(q).

axial_forces ¶

axial_forces(q: Array, pressures: Array) -> Array

Return per-muscle axial forces for the supplied pressures.

The sign convention and constitutive equation match the cached UMArm model and its MuJoCo implementation.

ArticulatedMcKibbenTransmissionParams ¶

Bases: BaseSystemParams


              flowchart TD
              soromox.actuation.ArticulatedMcKibbenTransmissionParams[ArticulatedMcKibbenTransmissionParams]
              soromox.systems.params.BaseSystemParams[BaseSystemParams]

                              soromox.systems.params.BaseSystemParams --> soromox.actuation.ArticulatedMcKibbenTransmissionParams
                


              click soromox.actuation.ArticulatedMcKibbenTransmissionParams href "" "soromox.actuation.ArticulatedMcKibbenTransmissionParams"
              click soromox.systems.params.BaseSystemParams href "" "soromox.systems.params.BaseSystemParams"

Attachment geometry and constitutive parameters for McKibben groups.

replace ¶

replace(**updates: Any) -> BaseSystemParams

Return a copy with selected fields replaced.

validate_against_structure ¶

validate_against_structure(structure: Any) -> None

Validate params against static construction choices.

from_cached_npz `classmethod` ¶

from_cached_npz(path: str | Path) -> ArticulatedMcKibbenTransmissionParams

Load McKibben transmission fields from an existing UMArm cache.

BaseThreadlikeRoutingParams ¶

Bases: BaseSystemParams


              flowchart TD
              soromox.actuation.BaseThreadlikeRoutingParams[BaseThreadlikeRoutingParams]
              soromox.systems.params.BaseSystemParams[BaseSystemParams]

                              soromox.systems.params.BaseSystemParams --> soromox.actuation.BaseThreadlikeRoutingParams
                


              click soromox.actuation.BaseThreadlikeRoutingParams href "" "soromox.actuation.BaseThreadlikeRoutingParams"
              click soromox.systems.params.BaseSystemParams href "" "soromox.systems.params.BaseSystemParams"

Base PyTree contract for vectorized threadlike routing parameters.

validate ¶

validate() -> None

Validate parameter consistency.

validate_against_structure ¶

validate_against_structure(structure: Any) -> None

Validate params against static construction choices.

replace ¶

replace(**updates: Any) -> BaseThreadlikeRoutingParams

Replace numeric fields while keeping routing topology immutable.

LinearThreadlikeRoutingParams ¶

Bases: BaseThreadlikeRoutingParams


              flowchart TD
              soromox.actuation.LinearThreadlikeRoutingParams[LinearThreadlikeRoutingParams]
              soromox.actuation.threadlike.BaseThreadlikeRoutingParams[BaseThreadlikeRoutingParams]
              soromox.systems.params.BaseSystemParams[BaseSystemParams]

                              soromox.actuation.threadlike.BaseThreadlikeRoutingParams --> soromox.actuation.LinearThreadlikeRoutingParams
                                soromox.systems.params.BaseSystemParams --> soromox.actuation.threadlike.BaseThreadlikeRoutingParams
                



              click soromox.actuation.LinearThreadlikeRoutingParams href "" "soromox.actuation.LinearThreadlikeRoutingParams"
              click soromox.actuation.threadlike.BaseThreadlikeRoutingParams href "" "soromox.actuation.threadlike.BaseThreadlikeRoutingParams"
              click soromox.systems.params.BaseSystemParams href "" "soromox.systems.params.BaseSystemParams"

Batched linear material-frame routing and contiguous segment spans.

intercept and slope have shape (num_paths, 3) in the local material frame. Because SoRoMoX aligns the backbone with the local x-axis, their x-components must be zero; the remaining components describe the path within each material-frame cross-section.

replace ¶

replace(**updates: Any) -> BaseThreadlikeRoutingParams

Replace numeric fields while keeping routing topology immutable.

validate_against_structure ¶

validate_against_structure(structure: Any) -> None

Validate params against static construction choices.

ThreadlikeActuator ¶

ThreadlikeActuator(*, params: ThreadlikeActuatorParams, routing: ThreadlikeRouting | None = None, labels: tuple[str, ...], units: str | tuple[str, ...], name: str, kind: ThreadlikeKind)

Bases: Actuator


              flowchart TD
              soromox.actuation.ThreadlikeActuator[ThreadlikeActuator]
              soromox.actuation.core.Actuator[Actuator]

                              soromox.actuation.core.Actuator --> soromox.actuation.ThreadlikeActuator
                


              click soromox.actuation.ThreadlikeActuator href "" "soromox.actuation.ThreadlikeActuator"
              click soromox.actuation.core.Actuator href "" "soromox.actuation.core.Actuator"

Vectorized threadlike actuator with modality-specific presets.

ThreadlikeActuatorParams ¶

Bases: BaseSystemParams


              flowchart TD
              soromox.actuation.ThreadlikeActuatorParams[ThreadlikeActuatorParams]
              soromox.systems.params.BaseSystemParams[BaseSystemParams]

                              soromox.systems.params.BaseSystemParams --> soromox.actuation.ThreadlikeActuatorParams
                


              click soromox.actuation.ThreadlikeActuatorParams href "" "soromox.actuation.ThreadlikeActuatorParams"
              click soromox.systems.params.BaseSystemParams href "" "soromox.systems.params.BaseSystemParams"

Physical and control parameters for a threadlike actuator family.

replace ¶

replace(**updates: Any) -> BaseSystemParams

Return a copy with selected fields replaced.

validate_against_structure ¶

validate_against_structure(structure: Any) -> None

Validate params against static construction choices.

ThreadlikeImpedance ¶

ThreadlikeImpedance(*, routing: ThreadlikeRouting | BaseThreadlikeRoutingParams, stiffness: Array, damping: Array, rest_length: Array, name: str = 'passive_threadlike')

Bases: PassiveElement


              flowchart TD
              soromox.actuation.ThreadlikeImpedance[ThreadlikeImpedance]
              soromox.actuation.core.PassiveElement[PassiveElement]

                              soromox.actuation.core.PassiveElement --> soromox.actuation.ThreadlikeImpedance
                


              click soromox.actuation.ThreadlikeImpedance href "" "soromox.actuation.ThreadlikeImpedance"
              click soromox.actuation.core.PassiveElement href "" "soromox.actuation.core.PassiveElement"

Passive spring-damper mechanics along fixed threadlike paths.

path_lengths ¶

path_lengths(robot, q: Array) -> Array

Return the raw lengths of the passive routed paths.

path_velocities ¶

path_velocities(robot, q: Array, qd: Array) -> Array

Return the raw length rates of the passive routed paths.

path_poses ¶

path_poses(robot, q: Array, s: Array) -> Array

Return passive routed-path positions at backbone coordinate s.

ThreadlikeImpedanceParams ¶

Bases: BaseSystemParams


              flowchart TD
              soromox.actuation.ThreadlikeImpedanceParams[ThreadlikeImpedanceParams]
              soromox.systems.params.BaseSystemParams[BaseSystemParams]

                              soromox.systems.params.BaseSystemParams --> soromox.actuation.ThreadlikeImpedanceParams
                


              click soromox.actuation.ThreadlikeImpedanceParams href "" "soromox.actuation.ThreadlikeImpedanceParams"
              click soromox.systems.params.BaseSystemParams href "" "soromox.systems.params.BaseSystemParams"

Spring-damper parameters for passive routed paths.

replace ¶

replace(**updates: Any) -> BaseSystemParams

Return a copy with selected fields replaced.

validate_against_structure ¶

validate_against_structure(structure: Any) -> None

Validate params against static construction choices.

ThreadlikeRouting ¶

Bases: Module


              flowchart TD
              soromox.actuation.ThreadlikeRouting[ThreadlikeRouting]

              

              click soromox.actuation.ThreadlikeRouting href "" "soromox.actuation.ThreadlikeRouting"

Runtime routing object for a batched fixed material-frame path family.

linear `classmethod` ¶

linear(*, intercept: Array, slope: Array | float = 0.0, start_segment_index: int | tuple[int, ...] | Array = 0, end_segment_index: int | tuple[int, ...] | Array = 0) -> ThreadlikeRouting

Construct linear cross-section paths in the local material frame.

The final array axis is [x, y, z]. Local x follows the backbone, so the x-components of intercept and slope must both be zero.

offset ¶

offset(path_params: BaseThreadlikeRoutingParams, s: Array) -> Array

Evaluate one path's material-frame offset at s.

derivative ¶

derivative(path_params: BaseThreadlikeRoutingParams, s: Array) -> Array

Evaluate one path's material-frame offset derivative at s.

ThreadlikeTransmission ¶

ThreadlikeTransmission(params: ThreadlikeTransmissionParams, *, routing: ThreadlikeRouting | None = None)

Bases: Transmission


              flowchart TD
              soromox.actuation.ThreadlikeTransmission[ThreadlikeTransmission]
              soromox.actuation.core.Transmission[Transmission]

                              soromox.actuation.core.Transmission --> soromox.actuation.ThreadlikeTransmission
                


              click soromox.actuation.ThreadlikeTransmission href "" "soromox.actuation.ThreadlikeTransmission"
              click soromox.actuation.core.Transmission href "" "soromox.actuation.core.Transmission"

Transmission whose coordinates are scaled routed-path lengths.

velocities ¶

velocities(robot: SoftRobot, q: Array, qd: Array) -> Array

Return transmission-coordinate velocities.

ThreadlikeTransmissionParams ¶

Bases: BaseSystemParams


              flowchart TD
              soromox.actuation.ThreadlikeTransmissionParams[ThreadlikeTransmissionParams]
              soromox.systems.params.BaseSystemParams[BaseSystemParams]

                              soromox.systems.params.BaseSystemParams --> soromox.actuation.ThreadlikeTransmissionParams
                


              click soromox.actuation.ThreadlikeTransmissionParams href "" "soromox.actuation.ThreadlikeTransmissionParams"
              click soromox.systems.params.BaseSystemParams href "" "soromox.systems.params.BaseSystemParams"

Routing parameters and constant work-coordinate scale per path.

replace ¶

replace(**updates: Any) -> BaseSystemParams

Return a copy with selected fields replaced.

validate_against_structure ¶

validate_against_structure(structure: Any) -> None

Validate params against static construction choices.

linear_threadlike_routing ¶

linear_threadlike_routing(params: LinearThreadlikeRoutingParams, s: Array) -> Array

Return material-frame offsets intercept + slope * s.

linear_threadlike_routing_derivative ¶

linear_threadlike_routing_derivative(params: LinearThreadlikeRoutingParams, s: Array) -> Array

Return the arc-length derivative of a linear routing offset.

core ¶

Composable actuation primitives.

The actuation model follows a work-conjugate formulation. A transmission defines actuator coordinates y_a(q) and their moment matrix A(q) = dy_a/dq.T. An effort model maps user controls to efforts conjugate to those coordinates, and generalized actuation forces are A(q) @ effort.

ActuatorMetadata ¶

ActuatorMetadata(*, labels: tuple[str, ...], units: str | tuple[str, ...], kind: ActuatorKind = 'generic', lower_bounds: Array | None = None, upper_bounds: Array | None = None)

Bases: Module


              flowchart TD
              soromox.actuation.core.ActuatorMetadata[ActuatorMetadata]

              

              click soromox.actuation.core.ActuatorMetadata href "" "soromox.actuation.core.ActuatorMetadata"

Ordered labels, units, limits, and semantics for input channels.

Transmission ¶

Bases: Module


              flowchart TD
              soromox.actuation.core.Transmission[Transmission]

              

              click soromox.actuation.core.Transmission href "" "soromox.actuation.core.Transmission"

Map robot configuration to work-conjugate actuator coordinates.

num_channels `abstractmethod` `property` ¶

num_channels: int

Number of scalar transmission coordinates.

coordinates `abstractmethod` ¶

coordinates(robot: SoftRobot, q: Array) -> Array

Return transmission coordinates y_a(q).

moment_matrix `abstractmethod` ¶

moment_matrix(robot: SoftRobot, q: Array) -> Array

Return dy_a/dq.T with shape (num_dofs, num_channels).

velocities ¶

velocities(robot: SoftRobot, q: Array, qd: Array) -> Array

Return transmission-coordinate velocities.

EffortModel ¶

Bases: Module


              flowchart TD
              soromox.actuation.core.EffortModel[EffortModel]

              

              click soromox.actuation.core.EffortModel href "" "soromox.actuation.core.EffortModel"

Map controls to efforts work-conjugate to transmission coordinates.

effort `abstractmethod` ¶

effort(control: Array, coordinate: Array, velocity: Array) -> Array

Return actuator effort for the current control and transmission state.

DirectEffort ¶

Bases: EffortModel


              flowchart TD
              soromox.actuation.core.DirectEffort[DirectEffort]
              soromox.actuation.core.EffortModel[EffortModel]

                              soromox.actuation.core.EffortModel --> soromox.actuation.core.DirectEffort
                


              click soromox.actuation.core.DirectEffort href "" "soromox.actuation.core.DirectEffort"
              click soromox.actuation.core.EffortModel href "" "soromox.actuation.core.EffortModel"

Stateless effort model for which effort is exactly the user control.

PassiveElement ¶

Bases: Module


              flowchart TD
              soromox.actuation.core.PassiveElement[PassiveElement]

              

              click soromox.actuation.core.PassiveElement href "" "soromox.actuation.core.PassiveElement"

Independent passive contribution to robot mechanics.

validate_for_robot ¶

validate_for_robot(robot: SoftRobot) -> None

Validate static component topology against robot.

Actuator ¶

Bases: Module


              flowchart TD
              soromox.actuation.core.Actuator[Actuator]

              

              click soromox.actuation.core.Actuator href "" "soromox.actuation.core.Actuator"

A transmission paired with an effort law and ordered channel metadata.

validate_for_robot ¶

validate_for_robot(robot: SoftRobot) -> None

Validate static component topology against robot.

IdentityActuatorParams ¶

Bases: BaseSystemParams


              flowchart TD
              soromox.actuation.core.IdentityActuatorParams[IdentityActuatorParams]
              soromox.systems.params.BaseSystemParams[BaseSystemParams]

                              soromox.systems.params.BaseSystemParams --> soromox.actuation.core.IdentityActuatorParams
                


              click soromox.actuation.core.IdentityActuatorParams href "" "soromox.actuation.core.IdentityActuatorParams"
              click soromox.systems.params.BaseSystemParams href "" "soromox.systems.params.BaseSystemParams"

Empty immutable parameter object for identity actuation.

replace ¶

replace(**updates: Any) -> BaseSystemParams

Return a copy with selected fields replaced.

validate ¶

validate() -> None

Validate parameter consistency.

validate_against_structure ¶

validate_against_structure(structure: Any) -> None

Validate params against static construction choices.

IdentityTransmission ¶

IdentityTransmission(num_channels: int)

Bases: Transmission


              flowchart TD
              soromox.actuation.core.IdentityTransmission[IdentityTransmission]
              soromox.actuation.core.Transmission[Transmission]

                              soromox.actuation.core.Transmission --> soromox.actuation.core.IdentityTransmission
                


              click soromox.actuation.core.IdentityTransmission href "" "soromox.actuation.core.IdentityTransmission"
              click soromox.actuation.core.Transmission href "" "soromox.actuation.core.Transmission"

Identity generalized-coordinate transmission.

velocities ¶

velocities(robot: SoftRobot, q: Array, qd: Array) -> Array

Return transmission-coordinate velocities.

IdentityActuator ¶

IdentityActuator(num_channels: int)

Bases: Actuator


              flowchart TD
              soromox.actuation.core.IdentityActuator[IdentityActuator]
              soromox.actuation.core.Actuator[Actuator]

                              soromox.actuation.core.Actuator --> soromox.actuation.core.IdentityActuator
                


              click soromox.actuation.core.IdentityActuator href "" "soromox.actuation.core.IdentityActuator"
              click soromox.actuation.core.Actuator href "" "soromox.actuation.core.Actuator"

Direct generalized-coordinate actuation used by default.

joint ¶

Joint-space transmissions and articulated tendon mechanics.

AffineJointTransmissionParams ¶

Bases: BaseSystemParams


              flowchart TD
              soromox.actuation.joint.AffineJointTransmissionParams[AffineJointTransmissionParams]
              soromox.systems.params.BaseSystemParams[BaseSystemParams]

                              soromox.systems.params.BaseSystemParams --> soromox.actuation.joint.AffineJointTransmissionParams
                


              click soromox.actuation.joint.AffineJointTransmissionParams href "" "soromox.actuation.joint.AffineJointTransmissionParams"
              click soromox.systems.params.BaseSystemParams href "" "soromox.systems.params.BaseSystemParams"

Parameters for an affine mapping to actuator coordinates.

Attributes:

Name	Type	Description
`routing_matrix`	`Array`	Matrix `R` with shape `(num_channels, num_dofs)`. Each row is the derivative of one actuator coordinate with respect to the generalized coordinates.
`reference_configuration`	`Array`	Generalized configuration `q_ref` at which the affine displacement term is zero.
`coordinate_offset`	`Array`	Per-channel actuator coordinate `y_a0` at `q_ref`, in the same units as the actuator coordinate. Thus `y_a(q_ref) = y_a0` and the differential map is `dy_a/dq = R`. For passive tendon impedance, `y_a0` specifies the deformation and corresponding preload at `q_ref`.

replace ¶

replace(**updates: Any) -> BaseSystemParams

Return a copy with selected fields replaced.

validate_against_structure ¶

validate_against_structure(structure: Any) -> None

Validate params against static construction choices.

AffineJointTransmission ¶

AffineJointTransmission(params: AffineJointTransmissionParams)

Bases: Transmission


              flowchart TD
              soromox.actuation.joint.AffineJointTransmission[AffineJointTransmission]
              soromox.actuation.core.Transmission[Transmission]

                              soromox.actuation.core.Transmission --> soromox.actuation.joint.AffineJointTransmission
                


              click soromox.actuation.joint.AffineJointTransmission href "" "soromox.actuation.joint.AffineJointTransmission"
              click soromox.actuation.core.Transmission href "" "soromox.actuation.core.Transmission"

Affine actuator coordinates R @ (q - q_ref) + y_a0.

velocities ¶

velocities(robot: SoftRobot, q: Array, qd: Array) -> Array

Return transmission-coordinate velocities.

ArticulatedTendonActuatorParams ¶

Bases: BaseSystemParams


              flowchart TD
              soromox.actuation.joint.ArticulatedTendonActuatorParams[ArticulatedTendonActuatorParams]
              soromox.systems.params.BaseSystemParams[BaseSystemParams]

                              soromox.systems.params.BaseSystemParams --> soromox.actuation.joint.ArticulatedTendonActuatorParams
                


              click soromox.actuation.joint.ArticulatedTendonActuatorParams href "" "soromox.actuation.joint.ArticulatedTendonActuatorParams"
              click soromox.systems.params.BaseSystemParams href "" "soromox.systems.params.BaseSystemParams"

Physical parameters for direct-effort articulated tendons.

replace ¶

replace(**updates: Any) -> BaseSystemParams

Return a copy with selected fields replaced.

validate_against_structure ¶

validate_against_structure(structure: Any) -> None

Validate params against static construction choices.

ArticulatedTendonActuator ¶

ArticulatedTendonActuator(*, params: ArticulatedTendonActuatorParams, labels: tuple[str, ...] | None = None, name: str = 'articulated_tendons')

Bases: Actuator


              flowchart TD
              soromox.actuation.joint.ArticulatedTendonActuator[ArticulatedTendonActuator]
              soromox.actuation.core.Actuator[Actuator]

                              soromox.actuation.core.Actuator --> soromox.actuation.joint.ArticulatedTendonActuator
                


              click soromox.actuation.joint.ArticulatedTendonActuator href "" "soromox.actuation.joint.ArticulatedTendonActuator"
              click soromox.actuation.core.Actuator href "" "soromox.actuation.core.Actuator"

Positive-tension actuation through fixed signed joint routing.

from_routing `classmethod` ¶

from_routing(routing_matrix: Array, *, reference_configuration: Array | None = None, coordinate_offset: Array | float = 0.0, lower_bounds: Array | float = 0.0, upper_bounds: Array | float = inf, labels: tuple[str, ...] | None = None, name: str = 'articulated_tendons') -> ArticulatedTendonActuator

Construct direct-tension actuation from signed joint routing.

The resulting actuator coordinate is routing_matrix @ (q - reference_configuration) + coordinate_offset. Each routing row is the signed contraction Jacobian of one tendon.

Parameters:

Name	Type	Description	Default
`routing_matrix`	`Array`	Signed tendon routing with one row per tendon and one column per generalized coordinate.	required
`reference_configuration`	`Array \| None`	Configuration `q_ref` used as the origin of the routing displacement. Defaults to zero.	`None`
`coordinate_offset`	`Array \| float`	Actuator coordinate `y_a0` at `q_ref`, as a scalar shared by all tendons or one value per tendon. Under `DirectEffort`, the generalized force is `R.T @ control`.	`0.0`
`lower_bounds`	`Array \| float`	Lower tension bounds, shared or per tendon.	`0.0`
`upper_bounds`	`Array \| float`	Upper tension bounds, shared or per tendon.	`inf`
`labels`	`tuple[str, ...] \| None`	Optional input label for each tendon.	`None`
`name`	`str`	Component name used for identification and rendering.	`'articulated_tendons'`

Returns:

Type	Description
`ArticulatedTendonActuator`	An articulated tendon actuator with direct tension effort.

ArticulatedTendonImpedanceParams ¶

Bases: BaseSystemParams


              flowchart TD
              soromox.actuation.joint.ArticulatedTendonImpedanceParams[ArticulatedTendonImpedanceParams]
              soromox.systems.params.BaseSystemParams[BaseSystemParams]

                              soromox.systems.params.BaseSystemParams --> soromox.actuation.joint.ArticulatedTendonImpedanceParams
                


              click soromox.actuation.joint.ArticulatedTendonImpedanceParams href "" "soromox.actuation.joint.ArticulatedTendonImpedanceParams"
              click soromox.systems.params.BaseSystemParams href "" "soromox.systems.params.BaseSystemParams"

Spring-damper parameters for articulated tendon coordinates.

replace ¶

replace(**updates: Any) -> BaseSystemParams

Return a copy with selected fields replaced.

validate_against_structure ¶

validate_against_structure(structure: Any) -> None

Validate params against static construction choices.

ArticulatedTendonImpedance ¶

ArticulatedTendonImpedance(*, params: ArticulatedTendonImpedanceParams, name: str = 'passive_articulated_tendons')

Bases: PassiveElement


              flowchart TD
              soromox.actuation.joint.ArticulatedTendonImpedance[ArticulatedTendonImpedance]
              soromox.actuation.core.PassiveElement[PassiveElement]

                              soromox.actuation.core.PassiveElement --> soromox.actuation.joint.ArticulatedTendonImpedance
                


              click soromox.actuation.joint.ArticulatedTendonImpedance href "" "soromox.actuation.joint.ArticulatedTendonImpedance"
              click soromox.actuation.core.PassiveElement href "" "soromox.actuation.core.PassiveElement"

Passive spring-damper mechanics in affine tendon coordinates.

from_routing `classmethod` ¶

from_routing(routing_matrix: Array, *, stiffness: Array, damping: Array, reference_configuration: Array | None = None, coordinate_offset: Array | float = 0.0, name: str = 'passive_articulated_tendons') -> ArticulatedTendonImpedance

Construct passive spring-damper mechanics in tendon coordinates.

Parameters:

Name	Type	Description	Default
`routing_matrix`	`Array`	Signed tendon routing with one row per passive tendon and one column per generalized coordinate.	required
`stiffness`	`Array`	Actuator-space stiffness, one value per tendon.	required
`damping`	`Array`	Actuator-space damping, one value per tendon.	required
`reference_configuration`	`Array \| None`	Configuration `q_ref` used as the origin of the routing displacement. Defaults to zero.	`None`
`coordinate_offset`	`Array \| float`	Tendon deformation `y_a0` at `q_ref`, as a scalar shared by all tendons or one value per tendon. Zero makes `q_ref` unstrained; a nonzero value creates elastic preload `R.T @ (stiffness * y_a0)`.	`0.0`
`name`	`str`	Component name used for identification and rendering.	`'passive_articulated_tendons'`

Returns:

Type	Description
`ArticulatedTendonImpedance`	A passive articulated tendon impedance component.

mckibben ¶

McKibben pneumatic-muscle transmission for spatial articulated robots.

This module's geometry is intentionally specific to grouped muscles spanning two-axis articulated joints. It requires a host that provides spatial kinematic frames; it is not a continuum-rod transmission. Continuum models can use threadlike muscle or equivalent pressure-chamber coordinates, while a future continuum McKibben model may reuse the constitutive equation with a different geometry contract.

ArticulatedMcKibbenTransmissionParams ¶

Bases: BaseSystemParams


              flowchart TD
              soromox.actuation.mckibben.ArticulatedMcKibbenTransmissionParams[ArticulatedMcKibbenTransmissionParams]
              soromox.systems.params.BaseSystemParams[BaseSystemParams]

                              soromox.systems.params.BaseSystemParams --> soromox.actuation.mckibben.ArticulatedMcKibbenTransmissionParams
                


              click soromox.actuation.mckibben.ArticulatedMcKibbenTransmissionParams href "" "soromox.actuation.mckibben.ArticulatedMcKibbenTransmissionParams"
              click soromox.systems.params.BaseSystemParams href "" "soromox.systems.params.BaseSystemParams"

Attachment geometry and constitutive parameters for McKibben groups.

from_cached_npz `classmethod` ¶

from_cached_npz(path: str | Path) -> ArticulatedMcKibbenTransmissionParams

Load McKibben transmission fields from an existing UMArm cache.

replace ¶

replace(**updates: Any) -> BaseSystemParams

Return a copy with selected fields replaced.

validate_against_structure ¶

validate_against_structure(structure: Any) -> None

Validate params against static construction choices.

ArticulatedMcKibbenTransmission ¶

ArticulatedMcKibbenTransmission(params: ArticulatedMcKibbenTransmissionParams)

Bases: Transmission


              flowchart TD
              soromox.actuation.mckibben.ArticulatedMcKibbenTransmission[ArticulatedMcKibbenTransmission]
              soromox.actuation.core.Transmission[Transmission]

                              soromox.actuation.core.Transmission --> soromox.actuation.mckibben.ArticulatedMcKibbenTransmission
                


              click soromox.actuation.mckibben.ArticulatedMcKibbenTransmission href "" "soromox.actuation.mckibben.ArticulatedMcKibbenTransmission"
              click soromox.actuation.core.Transmission href "" "soromox.actuation.core.Transmission"

Pressure-work transmission using McKibben volume coordinates.

The transmission owns fixed and moving attachment geometry for grouped universal joints on a spatial articulated host. It computes effective muscle lengths, the volume-like coordinate work-conjugate to pressure, its analytic moment matrix, and renderer-facing endpoint segments without embedding those mechanics in a particular articulated robot class.

local_segments ¶

local_segments(q: Array) -> Array

Return group-local fixed/moving endpoint segments.

Returns:

Type	Description
`Array`	Array with shape `(num_groups, actuators_per_group, 2, 3)`.
`Array`	Endpoint axis 2 is ordered as `[fixed, moving]`.

segments ¶

segments(robot, q: Array) -> Array

Return world-space actuator endpoint segments for rendering.

Returns:

Type	Description
`Array`	Array with shape `(num_channels, 2, 3)` whose endpoint axis is
`Array`	ordered as `[fixed, moving]`.

effective_lengths ¶

effective_lengths(q: Array) -> Array

Return effective McKibben muscle lengths.

For actuator i, the effective length is its current geometric endpoint distance minus reference_length[i] plus length_offset[i].

coordinates ¶

coordinates(robot, q: Array) -> Array

Return pressure-work coordinates for all McKibben muscles.

The coordinate is (B**2 - length**2) * length / (4*pi*N**2) and has volume units, making pressure its work-conjugate effort.

moment_matrix ¶

moment_matrix(robot, q: Array) -> Array

Return the analytic pressure-to-generalized-force matrix A(q).

axial_forces ¶

axial_forces(q: Array, pressures: Array) -> Array

Return per-muscle axial forces for the supplied pressures.

The sign convention and constitutive equation match the cached UMArm model and its MuJoCo implementation.

velocities ¶

velocities(robot: SoftRobot, q: Array, qd: Array) -> Array

Return transmission-coordinate velocities.

ArticulatedMcKibbenActuatorParams ¶

Bases: BaseSystemParams


              flowchart TD
              soromox.actuation.mckibben.ArticulatedMcKibbenActuatorParams[ArticulatedMcKibbenActuatorParams]
              soromox.systems.params.BaseSystemParams[BaseSystemParams]

                              soromox.systems.params.BaseSystemParams --> soromox.actuation.mckibben.ArticulatedMcKibbenActuatorParams
                


              click soromox.actuation.mckibben.ArticulatedMcKibbenActuatorParams href "" "soromox.actuation.mckibben.ArticulatedMcKibbenActuatorParams"
              click soromox.systems.params.BaseSystemParams href "" "soromox.systems.params.BaseSystemParams"

McKibben transmission and pressure bounds.

replace ¶

replace(**updates: Any) -> BaseSystemParams

Return a copy with selected fields replaced.

validate_against_structure ¶

validate_against_structure(structure: Any) -> None

Validate params against static construction choices.

ArticulatedMcKibbenActuator ¶

ArticulatedMcKibbenActuator(*, params: ArticulatedMcKibbenActuatorParams, labels: tuple[str, ...] | None = None, name: str = 'mckibben_muscles')

Bases: Actuator


              flowchart TD
              soromox.actuation.mckibben.ArticulatedMcKibbenActuator[ArticulatedMcKibbenActuator]
              soromox.actuation.core.Actuator[Actuator]

                              soromox.actuation.core.Actuator --> soromox.actuation.mckibben.ArticulatedMcKibbenActuator
                


              click soromox.actuation.mckibben.ArticulatedMcKibbenActuator href "" "soromox.actuation.mckibben.ArticulatedMcKibbenActuator"
              click soromox.actuation.core.Actuator href "" "soromox.actuation.core.Actuator"

Direct-pressure McKibben muscle actuator.

Controls are pressures in pascals. The transmission supplies equivalent volume coordinates, while diagnostic helpers expose effective lengths, endpoint segments, and signed axial forces. Installation requires a spatial articulated robot implementing the kinematic-frame contract; continuum hosts must use an appropriate continuum transmission instead.

empty `classmethod` ¶

empty(actuators_per_group: int = 4) -> ArticulatedMcKibbenActuator

Construct a zero-channel actuator with fixed empty group topology.

threadlike ¶

Fixed material-frame routing for threadlike continuum actuators.

BaseThreadlikeRoutingParams ¶

Bases: BaseSystemParams


              flowchart TD
              soromox.actuation.threadlike.BaseThreadlikeRoutingParams[BaseThreadlikeRoutingParams]
              soromox.systems.params.BaseSystemParams[BaseSystemParams]

                              soromox.systems.params.BaseSystemParams --> soromox.actuation.threadlike.BaseThreadlikeRoutingParams
                


              click soromox.actuation.threadlike.BaseThreadlikeRoutingParams href "" "soromox.actuation.threadlike.BaseThreadlikeRoutingParams"
              click soromox.systems.params.BaseSystemParams href "" "soromox.systems.params.BaseSystemParams"

Base PyTree contract for vectorized threadlike routing parameters.

replace ¶

replace(**updates: Any) -> BaseThreadlikeRoutingParams

Replace numeric fields while keeping routing topology immutable.

validate ¶

validate() -> None

Validate parameter consistency.

validate_against_structure ¶

validate_against_structure(structure: Any) -> None

Validate params against static construction choices.

LinearThreadlikeRoutingParams ¶

Bases: BaseThreadlikeRoutingParams


              flowchart TD
              soromox.actuation.threadlike.LinearThreadlikeRoutingParams[LinearThreadlikeRoutingParams]
              soromox.actuation.threadlike.BaseThreadlikeRoutingParams[BaseThreadlikeRoutingParams]
              soromox.systems.params.BaseSystemParams[BaseSystemParams]

                              soromox.actuation.threadlike.BaseThreadlikeRoutingParams --> soromox.actuation.threadlike.LinearThreadlikeRoutingParams
                                soromox.systems.params.BaseSystemParams --> soromox.actuation.threadlike.BaseThreadlikeRoutingParams
                



              click soromox.actuation.threadlike.LinearThreadlikeRoutingParams href "" "soromox.actuation.threadlike.LinearThreadlikeRoutingParams"
              click soromox.actuation.threadlike.BaseThreadlikeRoutingParams href "" "soromox.actuation.threadlike.BaseThreadlikeRoutingParams"
              click soromox.systems.params.BaseSystemParams href "" "soromox.systems.params.BaseSystemParams"

Batched linear material-frame routing and contiguous segment spans.

intercept and slope have shape (num_paths, 3) in the local material frame. Because SoRoMoX aligns the backbone with the local x-axis, their x-components must be zero; the remaining components describe the path within each material-frame cross-section.

replace ¶

replace(**updates: Any) -> BaseThreadlikeRoutingParams

Replace numeric fields while keeping routing topology immutable.

validate_against_structure ¶

validate_against_structure(structure: Any) -> None

Validate params against static construction choices.

ThreadlikeRouting ¶

Bases: Module


              flowchart TD
              soromox.actuation.threadlike.ThreadlikeRouting[ThreadlikeRouting]

              

              click soromox.actuation.threadlike.ThreadlikeRouting href "" "soromox.actuation.threadlike.ThreadlikeRouting"

Runtime routing object for a batched fixed material-frame path family.

linear `classmethod` ¶

linear(*, intercept: Array, slope: Array | float = 0.0, start_segment_index: int | tuple[int, ...] | Array = 0, end_segment_index: int | tuple[int, ...] | Array = 0) -> ThreadlikeRouting

Construct linear cross-section paths in the local material frame.

The final array axis is [x, y, z]. Local x follows the backbone, so the x-components of intercept and slope must both be zero.

offset ¶

offset(path_params: BaseThreadlikeRoutingParams, s: Array) -> Array

Evaluate one path's material-frame offset at s.

derivative ¶

derivative(path_params: BaseThreadlikeRoutingParams, s: Array) -> Array

Evaluate one path's material-frame offset derivative at s.

ThreadlikeTransmissionParams ¶

Bases: BaseSystemParams


              flowchart TD
              soromox.actuation.threadlike.ThreadlikeTransmissionParams[ThreadlikeTransmissionParams]
              soromox.systems.params.BaseSystemParams[BaseSystemParams]

                              soromox.systems.params.BaseSystemParams --> soromox.actuation.threadlike.ThreadlikeTransmissionParams
                


              click soromox.actuation.threadlike.ThreadlikeTransmissionParams href "" "soromox.actuation.threadlike.ThreadlikeTransmissionParams"
              click soromox.systems.params.BaseSystemParams href "" "soromox.systems.params.BaseSystemParams"

Routing parameters and constant work-coordinate scale per path.

replace ¶

replace(**updates: Any) -> BaseSystemParams

Return a copy with selected fields replaced.

validate_against_structure ¶

validate_against_structure(structure: Any) -> None

Validate params against static construction choices.

ThreadlikeTransmission ¶

ThreadlikeTransmission(params: ThreadlikeTransmissionParams, *, routing: ThreadlikeRouting | None = None)

Bases: Transmission


              flowchart TD
              soromox.actuation.threadlike.ThreadlikeTransmission[ThreadlikeTransmission]
              soromox.actuation.core.Transmission[Transmission]

                              soromox.actuation.core.Transmission --> soromox.actuation.threadlike.ThreadlikeTransmission
                


              click soromox.actuation.threadlike.ThreadlikeTransmission href "" "soromox.actuation.threadlike.ThreadlikeTransmission"
              click soromox.actuation.core.Transmission href "" "soromox.actuation.core.Transmission"

Transmission whose coordinates are scaled routed-path lengths.

velocities ¶

velocities(robot: SoftRobot, q: Array, qd: Array) -> Array

Return transmission-coordinate velocities.

ThreadlikeActuatorParams ¶

Bases: BaseSystemParams


              flowchart TD
              soromox.actuation.threadlike.ThreadlikeActuatorParams[ThreadlikeActuatorParams]
              soromox.systems.params.BaseSystemParams[BaseSystemParams]

                              soromox.systems.params.BaseSystemParams --> soromox.actuation.threadlike.ThreadlikeActuatorParams
                


              click soromox.actuation.threadlike.ThreadlikeActuatorParams href "" "soromox.actuation.threadlike.ThreadlikeActuatorParams"
              click soromox.systems.params.BaseSystemParams href "" "soromox.systems.params.BaseSystemParams"

Physical and control parameters for a threadlike actuator family.

replace ¶

replace(**updates: Any) -> BaseSystemParams

Return a copy with selected fields replaced.

validate_against_structure ¶

validate_against_structure(structure: Any) -> None

Validate params against static construction choices.

ThreadlikeActuator ¶

ThreadlikeActuator(*, params: ThreadlikeActuatorParams, routing: ThreadlikeRouting | None = None, labels: tuple[str, ...], units: str | tuple[str, ...], name: str, kind: ThreadlikeKind)

Bases: Actuator


              flowchart TD
              soromox.actuation.threadlike.ThreadlikeActuator[ThreadlikeActuator]
              soromox.actuation.core.Actuator[Actuator]

                              soromox.actuation.core.Actuator --> soromox.actuation.threadlike.ThreadlikeActuator
                


              click soromox.actuation.threadlike.ThreadlikeActuator href "" "soromox.actuation.threadlike.ThreadlikeActuator"
              click soromox.actuation.core.Actuator href "" "soromox.actuation.core.Actuator"

Vectorized threadlike actuator with modality-specific presets.

ThreadlikeImpedanceParams ¶

Bases: BaseSystemParams


              flowchart TD
              soromox.actuation.threadlike.ThreadlikeImpedanceParams[ThreadlikeImpedanceParams]
              soromox.systems.params.BaseSystemParams[BaseSystemParams]

                              soromox.systems.params.BaseSystemParams --> soromox.actuation.threadlike.ThreadlikeImpedanceParams
                


              click soromox.actuation.threadlike.ThreadlikeImpedanceParams href "" "soromox.actuation.threadlike.ThreadlikeImpedanceParams"
              click soromox.systems.params.BaseSystemParams href "" "soromox.systems.params.BaseSystemParams"

Spring-damper parameters for passive routed paths.

replace ¶

replace(**updates: Any) -> BaseSystemParams

Return a copy with selected fields replaced.

validate_against_structure ¶

validate_against_structure(structure: Any) -> None

Validate params against static construction choices.

ThreadlikeImpedance ¶

ThreadlikeImpedance(*, routing: ThreadlikeRouting | BaseThreadlikeRoutingParams, stiffness: Array, damping: Array, rest_length: Array, name: str = 'passive_threadlike')

Bases: PassiveElement


              flowchart TD
              soromox.actuation.threadlike.ThreadlikeImpedance[ThreadlikeImpedance]
              soromox.actuation.core.PassiveElement[PassiveElement]

                              soromox.actuation.core.PassiveElement --> soromox.actuation.threadlike.ThreadlikeImpedance
                


              click soromox.actuation.threadlike.ThreadlikeImpedance href "" "soromox.actuation.threadlike.ThreadlikeImpedance"
              click soromox.actuation.core.PassiveElement href "" "soromox.actuation.core.PassiveElement"

Passive spring-damper mechanics along fixed threadlike paths.

path_lengths ¶

path_lengths(robot, q: Array) -> Array

Return the raw lengths of the passive routed paths.

path_velocities ¶

path_velocities(robot, q: Array, qd: Array) -> Array

Return the raw length rates of the passive routed paths.

path_poses ¶

path_poses(robot, q: Array, s: Array) -> Array

Return passive routed-path positions at backbone coordinate s.

linear_threadlike_routing ¶

linear_threadlike_routing(params: LinearThreadlikeRoutingParams, s: Array) -> Array

Return material-frame offsets intercept + slope * s.

linear_threadlike_routing_derivative ¶

linear_threadlike_routing_derivative(params: LinearThreadlikeRoutingParams, s: Array) -> Array

Return the arc-length derivative of a linear routing offset.

Actuation API reference¶

soromox.actuation ¶

Actuator ¶

validate_for_robot ¶

ActuatorMetadata ¶

DirectEffort ¶

EffortModel ¶

effort abstractmethod ¶

IdentityActuator ¶

IdentityActuatorParams ¶

replace ¶

validate ¶

validate_against_structure ¶

IdentityTransmission ¶

velocities ¶

PassiveElement ¶

validate_for_robot ¶

Transmission ¶

num_channels abstractmethod property ¶

coordinates abstractmethod ¶

moment_matrix abstractmethod ¶

velocities ¶

AffineJointTransmission ¶

velocities ¶

AffineJointTransmissionParams ¶

replace ¶

validate_against_structure ¶

ArticulatedTendonActuator ¶

from_routing classmethod ¶

ArticulatedTendonActuatorParams ¶

replace ¶

validate_against_structure ¶

ArticulatedTendonImpedance ¶

from_routing classmethod ¶

ArticulatedTendonImpedanceParams ¶

replace ¶

validate_against_structure ¶

ArticulatedMcKibbenActuator ¶

empty classmethod ¶

ArticulatedMcKibbenActuatorParams ¶

replace ¶

validate_against_structure ¶

ArticulatedMcKibbenTransmission ¶

velocities ¶

local_segments ¶

segments ¶

effective_lengths ¶

coordinates ¶

moment_matrix ¶

axial_forces ¶

ArticulatedMcKibbenTransmissionParams ¶

replace ¶

validate_against_structure ¶

from_cached_npz classmethod ¶

BaseThreadlikeRoutingParams ¶

validate ¶

validate_against_structure ¶

replace ¶

LinearThreadlikeRoutingParams ¶

replace ¶

validate_against_structure ¶

ThreadlikeActuator ¶

ThreadlikeActuatorParams ¶

replace ¶

validate_against_structure ¶

ThreadlikeImpedance ¶

path_lengths ¶

path_velocities ¶

path_poses ¶

ThreadlikeImpedanceParams ¶

replace ¶

validate_against_structure ¶

ThreadlikeRouting ¶

linear classmethod ¶

offset ¶

derivative ¶

ThreadlikeTransmission ¶

velocities ¶

ThreadlikeTransmissionParams ¶

replace ¶

effort `abstractmethod` ¶

num_channels `abstractmethod` `property` ¶

coordinates `abstractmethod` ¶

moment_matrix `abstractmethod` ¶

from_routing `classmethod` ¶

from_routing `classmethod` ¶

empty `classmethod` ¶

from_cached_npz `classmethod` ¶

linear `classmethod` ¶

num_channels `abstractmethod` `property` ¶

coordinates `abstractmethod` ¶

moment_matrix `abstractmethod` ¶

effort `abstractmethod` ¶

from_routing `classmethod` ¶

from_routing `classmethod` ¶

from_cached_npz `classmethod` ¶

empty `classmethod` ¶

linear `classmethod` ¶