Fix tendon length expression and actuation matrix for planar pcs system#8

mstoelzle merged 3 commits intomaintud-phi/jax-soft-robot-modeling:mainfrom

bugfix/planar-pcs-tendon-length-and-actuation-matrixtud-phi/jax-soft-robot-modeling:bugfix/planar-pcs-tendon-length-and-actuation-matrixCopy head branch name to clipboard