src/jsrm/systems/planar_pcs.py:259

• [nitpick] The default implementation of actuation_mapping_fn assumes a fully actuated and identity actuation matrix, which might be too simplistic for some use cases. Consider providing a more flexible default implementation.

A = B_xi.T @ jnp.identity(n_xi) @ B_xi

src/jsrm/systems/planar_pcs.py:441

• The kinetic_energy_fn function is now called with an additional parameter q. Ensure that the function signature matches the new call.

T = kinetic_energy_fn(params, q, q_d)

src/jsrm/systems/pneumatic_planar_pcs.py:39

• The new actuation_mapping_fn function introduces new behavior that should be covered by tests. Ensure that the actuation matrix is correctly computed and applied.

def actuation_mapping_fn(