[petercorke]

Notebook renovation, symbolic.ipynb. It could not be run to the end against main (a simplify cell ran for minutes, one cell had a syntax error, and print(puma) raised an error); it now runs end to end in about 25 s with no errors. No change to the toolbox. It needs #856 (print(robot) for a symbolic robot) to be merged first.

What changed

• Gravity. puma.gravity = [0, 0, g] is now [0, 0, -g]: with the current convention gravity is the acceleration due to gravity (default [0, 0, -9.81]).

• Timing. The symbolic inverse dynamics (rne_python) now takes 0.14 s, not "10 minutes or more", and the prose says so. The six simplify(tau[j]) cells are replaced by one for tau[5] (1 s), and a note says how long the others take (measured here: 14 s for tau[3], 48 s for tau[4], over 150 s for tau[2]).

• tau is a NumPy object array, not a SymPy matrix as the prose said; the prose is corrected, and the gravity substitution (tau.subs does not exist on an array) is [t.subs(subsdict) for t in tau].

• The coefficient cells used the unexpanded tau[0], so .coeff(...) returned empty tuples; they now use the expanded tau_0, and the squared velocity term is tau_0.coeff(qd[0], 2). One of them was a code line in a markdown cell, now a code cell.

• The threshold for the significant terms is 1e-2 and not 1e-6: with 1e-6, 5470 of the 5533 terms survive, and 1e-2 leaves 25%, which is what the prose says.

• A cell with a syntax error (an unfinished subsdict loop) is completed, and empty cells are removed.

• The standard generated first cell (docs(notebooks): a standard generated first cell, and a shorter bootstrap cell #850) with the modernised note.

• It now asks for the ik extra in its metadata (rtb_bootstrap.extras), so that the bootstrap installs SymPy in the browser. Its old piplite cell did not install SymPy, so it probably never worked in JupyterLite.

Executed headless against the code of #856 (0 error cells, 25 s). Not tried in a browser. Written with AI assistance (Claude Code).

🤖 Generated with Claude Code

[codacy-production]

Up to standards ✅

🟢 Issues 0 issues

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[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 0.00%. Comparing base (7666c63) to head (e8eba70).
⚠️ Report is 1 commits behind head on main.

Additional details and impacted files

@@          Coverage Diff          @@
##            main    #857   +/-   ##
=====================================
  Coverage   0.00%   0.00%           
=====================================
  Files        146     146           
  Lines      16867   16867           
=====================================
  Misses     16867   16867           

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