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Utilities

Utility modules and helper functions for SoRoMoX.

Overview

This section contains utility modules that provide supporting functionality for robot systems, including parameter management, numerical conventions, geometry, and Lie algebra tools.

Available Utilities

Parameters

Parameter handling, validation, and default configurations for soft robot systems.

  • Default parameter sets for rapid prototyping
  • Validation functions for parameter dictionaries
  • Conversion utilities between parameter representations
  • Factory functions for common robot configurations

Numerics

Finite singular-point conventions for common JAX numerical operations.

  • Safe square root, Euclidean norm, division, and normalization
  • Defined values and derivatives at removable or model singularities
  • Strict-singularity diagnostics for locating invalid configurations

Geometry

Pose encodings, rotation representation conversions, and geometric errors.

  • Direct pose-coordinate transform helpers
  • Quaternion, rotation-vector, rotation-matrix, and 6D conversions
  • Geodesic orientation errors for control and tracking

Lie Algebra

Explicit namespaces for rigid-body Lie groups and algebras.

  • Pure SO(2) / so(2), SO(3) / so(3), SE(2) / se(2), and SE(3) / se(3) maps
  • Reusable stable scalar Jacobian coefficients

Constant Strain

Rod-segment operators organized into planar and spatial namespaces.

  • Constant-strain adjoint, inverse-adjoint, tangent, and tangent derivative
  • Bundled evaluation when several related operators are needed
  • Separate planar and spatial operator namespaces

Numerical Jacobian

Finite-difference gradients and Jacobians for scalar- and vector-valued functions, including bound-aware one-sided schemes.