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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, 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

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 and constant-strain operators.

  • Pure SO(2) / so(2), SO(3) / so(3), SE(2) / se(2), and SE(3) / se(3) maps
  • Constant-strain adjoint and tangent operators