👉 A semirigid system is a system that can be rigidly transformed into its inverse (degenerate) configuration, but not vice versa. In other words, it is possible to deform one object while keeping the orientation of another object fixed. This property allows for the manipulation and control of objects with limited mobility or flexibility. Semirigidity ensures that any deformation of a semirigid system will be equivalent to its inverse configuration, which can be useful in engineering applications such as robotic systems, where
