diff --git a/docs/notebooks/icra2021.ipynb b/docs/notebooks/icra2021.ipynb
index dab0d24c9..8e6b2d387 100644
--- a/docs/notebooks/icra2021.ipynb
+++ b/docs/notebooks/icra2021.ipynb
@@ -4,10 +4,25 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "# Not your grandmother’s toolbox– the Robotics Toolbox reinvented for python\n",
-    "### Peter Corke and Jesse Haviland\n",
+    "<!-- RTB_HEADER -- generated from the notebook metadata (rtb_header) by sync_bootstrap.py, do not hand-edit -->\n",
+    "<table>\n",
+    "  <tr>\n",
+    "    <td><div align=\"left\"><font size=\"30\">Robotics Toolbox for Python</font></div></td>\n",
+    "    <td><img src=\"figs/RobToolBox_RoundLogoB.png\" width=\"300\"></td>\n",
+    "  </tr>\n",
+    "</table>\n",
     "\n",
-    "This is the code for the examples in the paper published at ICRA2021.\n"
+    "<p></p>\n",
+    "<div align=\"center\" style=\"font-size: 1.5em;\">Not your grandmother’s toolbox: the Robotics Toolbox reinvented for Python</div>\n",
+    "<p></p>\n",
+    "\n",
+    "(c) Peter Corke and Jesse Haviland 2021, updated 2026\n",
+    "\n",
+    "Peter Corke and Jesse Haviland\n",
+    "\n",
+    "This is the code for the examples in the paper published at ICRA 2021.\n",
+    "\n",
+    "> **Modernised 2026-10-19** to address API drift: this notebook was written for an earlier release of the Toolbox, and has been updated so that it runs with the current one."
    ]
   },
   {
@@ -150,7 +165,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "T.plot(color=\"red\", label=\"2\")"
+    "T.plot(color=\"red\", frame=\"2\")"
    ]
   },
   {
@@ -264,7 +279,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "from roboticstoolbox import ETS as ET"
+    "from roboticstoolbox import ET"
    ]
   },
   {
@@ -290,17 +305,17 @@
    "source": [
     "e = (\n",
     "    ET.tz(l1)\n",
-    "    * ET.rz()\n",
+    "    * ET.Rz()\n",
     "    * ET.ty(l2)\n",
-    "    * ET.ry()\n",
+    "    * ET.Ry()\n",
     "    * ET.tz(l3)\n",
     "    * ET.tx(l4)\n",
     "    * ET.ty(l5)\n",
-    "    * ET.ry()\n",
+    "    * ET.Ry()\n",
     "    * ET.tz(l6)\n",
-    "    * ET.rz()\n",
-    "    * ET.ry()\n",
-    "    * ET.rz()\n",
+    "    * ET.Rz()\n",
+    "    * ET.Ry()\n",
+    "    * ET.Rz()\n",
     ")"
    ]
   },
@@ -310,7 +325,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "robot = ERobot(e)\n",
+    "robot = Robot(e)\n",
     "print(robot)"
    ]
   },
@@ -599,11 +614,11 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "from spatialgeometry import Box\n",
+    "from spatialgeometry import Cuboid\n",
     "\n",
-    "obstacle = Box([1, 1, 1], base=SE3(1, 0, 0))\n",
-    "iscollision = panda.collided(panda.qr, obstacle)  # boolean\n",
-    "iscollision = panda.links[0].collided(obstacle)"
+    "obstacle = Cuboid([1, 1, 1], pose=SE3(1, 0, 0))\n",
+    "iscollision = panda.iscollided(panda.qr, obstacle)  # boolean\n",
+    "iscollision = panda.links[0].iscollided(obstacle)"
    ]
   },
   {
@@ -705,6 +720,15 @@
     "_Feature"
    ],
    "window_display": false
+  },
+  "rtb_header": {
+   "title": "Not your grandmother’s toolbox: the Robotics Toolbox reinvented for Python",
+   "paragraphs": [
+    "Peter Corke and Jesse Haviland",
+    "This is the code for the examples in the paper published at ICRA 2021."
+   ],
+   "copyright": "Peter Corke and Jesse Haviland 2021, updated 2026",
+   "modernised": "2026-10-19"
   }
  },
  "nbformat": 4,