[petercorke]

print(robot) and robot.qlim raised TypeError: ufunc 'isnan' not supported for a robot made with symbolic=True, for example rtb.models.DH.Puma560(symbolic=True). Found while renovating symbolic.ipynb.

The qlim property tested the joint limits with np.isnan, which rejects the SymPy numbers a symbolic model holds. It now converts the limits to floats first. This does not change results for numeric models. A limit that is a free symbol still cannot be represented in the float array that qlim returns, and now raises the conversion error from NumPy.

New tests/test_symbolic_qlim.py (3 tests: the symbolic limits equal the numeric ones, a symbolic robot prints, and the default limits for an unset revolute joint). Full suite: only the 20 test_servo_half_turn failures from the stale compiled extension in my worktree; mypy clean. Written with AI assistance (Claude Code).

🤖 Generated with Claude Code

[codacy-production]

Not up to standards ⛔

🔴 Issues 1 high

Alerts:
⚠ 1 issue (≤ 0 issues of at least minor severity)

Results:
1 new issue

Category	Results
Security	1 high

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🟢 Metrics 373 complexity · 3 duplication

Metric	Results
Complexity	373
Duplication	3

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[codecov]

Codecov Report

❌ Patch coverage is 0% with 3 lines in your changes missing coverage. Please review.
✅ Project coverage is 0.00%. Comparing base (1ddf6dd) to head (b5787b3).
⚠️ Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
src/roboticstoolbox/robot/BaseRobot.py	0.00%	3 Missing ⚠️

Additional details and impacted files

@@          Coverage Diff          @@
##            main    #856   +/-   ##
=====================================
  Coverage   0.00%   0.00%           
=====================================
  Files        146     146           
  Lines      16866   16867    +1     
=====================================
- Misses     16866   16867    +1     

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