Fix assembly of actuation matrix for multi-segment pneumatically actuated planar pcs robots

Author: mstoelzle

pyproject.toml

@@ -17,7 +17,7 @@ name = "jsrm"  # Required
 #
 # For a discussion on single-sourcing the version, see
 # https://packaging.python.org/guides/single-sourcing-package-version/
-version = "0.0.16"  # Required
+version = "0.0.17"  # Required
 
 # This is a one-line description or tagline of what your project does. This
 # corresponds to the "Summary" metadata field:

src/jsrm/systems/pneumatically_actuated_planar_pcs.py

@@ -137,8 +137,7 @@ def compute_actuation_matrix_for_segment(
             chi_pe=chi_sms[:-1], chi_de=chi_sms[1:],
             J_pe=J_sms[:-1], J_de=J_sms[1:],
         )
-        # we need to sum the contributions of the actuation of each segment
-        A = jnp.sum(A_sms, axis=0)
+        A = jnp.concatenate(A_sms, axis=-1)
 
         # apply the actuation_basis
         A = A @ actuation_basis