Rename pneumatic_planar_pcs to pneumatically_actuated_planar_pcs

Author: mstoelzle

examples/simulate_pneumatic_planar_pcs.py renamed to examples/simulate_pneumatically_actuated_planar_pcs.py

@@ -12,7 +12,7 @@
 
 import jsrm
 from jsrm import ode_factory
-from jsrm.systems import pneumatic_planar_pcs
+from jsrm.systems import pneumatically_actuated_planar_pcs
 
 num_segments = 1
 
@@ -48,7 +48,7 @@
 strain_selector = jnp.array([True, False, True])[None, :].repeat(num_segments, axis=0).flatten()
 
 B_xi, forward_kinematics_fn, dynamical_matrices_fn, auxiliary_fns = (
-    pneumatic_planar_pcs.factory(
+    pneumatically_actuated_planar_pcs.factory(
         num_segments, sym_exp_filepath, strain_selector, # simplified_actuation_mapping=True
     )
 )

src/jsrm/systems/planar_pcs.py

@@ -242,6 +242,7 @@ def actuation_mapping_fn(
             jacobian_fn: Callable,
             params: Dict[str, Array],
             B_xi: Array,
+            xi_eq: Array,
             q: Array,
         ) -> Array:
             """
@@ -252,6 +253,7 @@ def actuation_mapping_fn(
                 jacobian_fn: function to compute the Jacobian
                 params: dictionary with robot parameters
                 B_xi: strain basis matrix
+                xi_eq: equilibrium strains as array of shape (n_xi,)
                 q: configuration of the robot
             Returns:
                 A: actuation matrix of shape (n_xi, n_xi) where n_xi is the number of strains.
@@ -359,7 +361,7 @@ def dynamical_matrices_fn(
         # compute the stiffness matrix
         K = stiffness_fn(params, B_xi, formulate_in_strain_space=True)
         # compute the actuation matrix
-        A = actuation_mapping_fn(forward_kinematics_fn, jacobian_fn, params, B_xi, q)
+        A = actuation_mapping_fn(forward_kinematics_fn, jacobian_fn, params, B_xi, xi_eq, q)
 
         # dissipative matrix from the parameters
         D = params.get("D", jnp.zeros((n_xi, n_xi)))

src/jsrm/systems/pneumatic_planar_pcs.py renamed to src/jsrm/systems/pneumatically_actuated_planar_pcs.py

@@ -15,7 +15,7 @@ def factory(
     **kwargs
 ):
     """
-    Factory function for the planar PCS.
+    Factory function for the pneumatically-actuated planar PCS.
     Args:
         num_segments: number of segments
         segment_actuation_selector: actuation selector for the segments as boolean array of shape (num_segments,)
@@ -43,6 +43,7 @@ def actuation_mapping_fn(
         jacobian_fn: Callable,
         params: Dict[str, Array],
         B_xi: Array,
+        xi_eq: Array,
         q: Array,
     ) -> Array:
         """
@@ -52,6 +53,7 @@ def actuation_mapping_fn(
             jacobian_fn: function to compute the Jacobian
             params: dictionary with robot parameters
             B_xi: strain basis matrix
+            xi_eq: equilibrium strains as array of shape (n_xi,)
             q: configuration of the robot
         Returns:
             A: actuation matrix of shape (n_xi, n_act) where n_xi is the number of strains and