Fix some bugs

Author: mstoelzle

src/jsrm/systems/planar_pcs_num.py

@@ -190,7 +190,7 @@ def stiffness_fn(
                 S = B_xi.T @ S @ B_xi
 
             return S
-    if not isinstance(stiffness_fn, callable):
+    if not callable(stiffness_fn):
         raise TypeError(f"stiffness_fn must be a callable, but got {type(stiffness_fn).__name__}")
 
     # Actuation mapping function
@@ -219,7 +219,7 @@ def actuation_mapping_fn(
             A = B_xi.T @ jnp.identity(n_xi) @ B_xi
 
             return A
-    if not isinstance(actuation_mapping_fn, Callable):
+    if not callable(actuation_mapping_fn):
         raise TypeError(f"actuation_mapping_fn must be a callable, but got {type(actuation_mapping_fn).__name__}")
 
     if integration_type == "gauss-legendre":
@@ -369,7 +369,7 @@ def chi_i(
             dth = kappa * l_i  # Angle increment for the current segment
             th = th_prev + dth
 
-            # Compute the integrals for the transformation matrix            
+            # Compute the integrals for the transformation matrix
             int_cos_th = jnp.where(
                 jnp.abs(kappa) < eps,
                 l_i * jnp.cos(th_prev),

tests/test_fwd_kine_eps_planar_pcs.py

@@ -80,12 +80,13 @@ def FwdKine_plot(eps_list, s, sigma_x, sigma_y, fig, axs):
         ax.set_ylabel("Fwd Kinematics components")
 
     for i_eps, eps in enumerate(eps_list):
+        FwdKine_kwargs = {"eps": eps} if eps is not None else {}
         FwdKine_auto, FwdKine_exp, FwdKine_symb = [], [], []
         for kappa in kappa_values:
             q = jnp.array([kappa, sigma_x, sigma_y - 1.0] * num_segments)
-            FwdKine_auto.append(FwdKine_autodiff_fn(params, q, s, eps=eps))
-            FwdKine_exp.append(FwdKine_explicit_fn(params, q, s, eps=eps))
-            FwdKine_symb.append(FwdKine_symbolic_fn(params, q, s, eps=eps))
+            FwdKine_auto.append(FwdKine_autodiff_fn(params, q, s, **FwdKine_kwargs))
+            FwdKine_exp.append(FwdKine_explicit_fn(params, q, s, **FwdKine_kwargs))
+            FwdKine_symb.append(FwdKine_symbolic_fn(params, q, s, **FwdKine_kwargs))
         FwdKine_auto, FwdKine_exp, FwdKine_symb = jnp.stack(FwdKine_auto), jnp.stack(FwdKine_exp), jnp.stack(FwdKine_symb)
 
         for i in range(2):