Divide systems into subpages

Author: mstoelzle

docs/api/integration.md

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+# Integration Utilities
+
+Numerical integration methods and utilities for solving differential equations.
+
+## Overview
+
+This module provides various integration schemes including Gauss-Legendre quadrature and other numerical methods used in the robot dynamics computations.
+
+## API Reference
+
+::: jsrm.integration
+    options:
+      show_root_heading: true
+      show_source: false
+      heading_level: 3
+      group_by_category: true
+      docstring_section_style: table
+      members_order: source

docs/api/math-utils.md

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+# Math Utilities
+
+Mathematical utility functions used throughout JSRM for various computations.
+
+## Overview
+
+This module provides core mathematical operations including linear algebra utilities, matrix operations, and specialized functions for robotics computations.
+
+## API Reference
+
+::: jsrm.math_utils
+    options:
+      show_root_heading: true
+      show_source: false
+      heading_level: 3
+      group_by_category: true
+      docstring_section_style: table
+      members_order: source

docs/api/parameters.md

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+# Parameters
+
+Parameter handling and configuration utilities for robot systems.
+
+## Overview
+
+This module provides functions for handling robot parameters, including validation, conversion, and default parameter sets for various robot types.
+
+## API Reference
+
+::: jsrm.parameters
+    options:
+      show_root_heading: true
+      show_source: false
+      heading_level: 3
+      group_by_category: true
+      docstring_section_style: table
+      members_order: source

docs/api/pcs.md

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+# PCS Systems (General)
+
+The general Piecewise Constant Strain (PCS) implementation provides the core modeling framework for continuum soft robots.
+
+## Overview
+
+This module contains the fundamental PCS implementation that serves as the foundation for more specialized PCS variants. It provides the core mathematical framework for modeling continuum robots using piecewise constant strain assumptions.
+
+## API Reference
+
+::: jsrm.systems.pcs
+    options:
+      show_root_heading: true
+      show_source: false
+      heading_level: 3
+      group_by_category: true
+      docstring_section_style: table
+      members_order: source

docs/api/pendulum.md

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+# Pendulum Systems
+
+The pendulum module provides implementations for N-link pendulum systems, which are useful for benchmarking and comparison with soft robot systems.
+
+## Overview
+
+The pendulum system implements classical rigid-body dynamics for articulated robots with revolute joints. This serves as a baseline for comparing with continuum soft robot models.
+
+## API Reference
+
+::: jsrm.systems.pendulum
+    options:
+      show_root_heading: true
+      show_source: false
+      heading_level: 3
+      group_by_category: true
+      docstring_section_style: table
+      members_order: source

docs/api/planar-hsa.md

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+# Planar HSA Systems
+
+The Planar Handed Shearing Auxetics (HSA) systems provide implementations for soft robots with auxetic properties in planar settings.
+
+## Overview
+
+HSA robots exhibit unique mechanical properties due to their auxetic structure, which allows for interesting deformation patterns and control strategies. This module implements the kinematic and dynamic models for planar HSA robots.
+
+## API Reference
+
+::: jsrm.systems.planar_hsa
+    options:
+      show_root_heading: true
+      show_source: false
+      heading_level: 3
+      group_by_category: true
+      docstring_section_style: table
+      members_order: source

docs/api/planar-pcs-sym.md

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+# Planar PCS Symbolic Systems
+
+The symbolic implementation of Planar PCS systems provides pre-computed symbolic expressions for kinematics and dynamics, offering improved computational performance.
+
+## Overview
+
+This module contains symbolic derivations of the PCS model equations, which are pre-computed using SymPy and then implemented in JAX for fast execution. This approach eliminates the need for numerical differentiation during runtime.
+
+## API Reference
+
+::: jsrm.systems.planar_pcs_sym
+    options:
+      show_root_heading: true
+      show_source: false
+      heading_level: 3
+      group_by_category: true
+      docstring_section_style: table
+      members_order: source

docs/api/planar-pcs.md

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+# Planar PCS Systems
+
+The Planar Piecewise Constant Strain (PCS) systems provide implementations for 2D soft continuum robots using the Cosserat rod theory with piecewise constant strain assumptions.
+
+## Overview
+
+The PCS model divides the continuum robot into segments, each with constant strain properties. This approach provides a good balance between computational efficiency and modeling accuracy for soft continuum robots.
+
+## Main Implementation
+
+::: jsrm.systems.planar_pcs
+    options:
+      show_root_heading: true
+      show_source: false
+      heading_level: 3
+      group_by_category: true
+      docstring_section_style: table
+      members_order: source

docs/api/pneumatic-planar-pcs.md

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+# Pneumatically Actuated Planar PCS
+
+Pneumatically actuated Planar PCS systems with pressure-based actuation mechanisms.
+
+## Overview
+
+This module extends the planar PCS model to include pneumatic actuation, where the robot is actuated by controlling internal pressure in chambers or bellows. This actuation method is common in soft pneumatic robots.
+
+## API Reference
+
+::: jsrm.systems.pneumatically_actuated_planar_pcs
+    options:
+      show_root_heading: true
+      show_source: false
+      heading_level: 3
+      group_by_category: true
+      docstring_section_style: table
+      members_order: source

docs/api/rendering.md

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+# Rendering
+
+Visualization and rendering utilities for robot systems.
+
+## Overview
+
+This module provides tools for visualizing robot configurations, trajectories, and animations. Includes both 2D and OpenCV-based rendering capabilities.
+
+## API Reference
+
+::: jsrm.rendering
+    options:
+      show_root_heading: true
+      show_source: false
+      heading_level: 3
+      group_by_category: true
+      docstring_section_style: table
+      members_order: source