@@ -4,7 +4,21 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "# IROS 2020 workshop: REVIEW ON SCREW THEORY & GEOMETRIC ROBOT DYNAMICS"
+    "<!-- 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",
+    "<p></p>\n",
+    "<div align=\"center\" style=\"font-size: 1.5em;\">IROS 2020 workshop: review on screw theory and geometric robot dynamics</div>\n",
+    "<p></p>\n",
+    "\n",
+    "(c) Peter Corke 2020, updated 2026\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."
    ]
   },
   {
@@ -189,15 +203,15 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "q, *_ = puma.ikine(T)\n",
+    "q = puma.ikine_LM(T).q\n",
     "q"
    ]
   },
   {
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "_Note: that `ikine` returns additional status information which we are ignoring here_\n",
+    "_Note: that `ikine_LM` returns an `IKSolution` object, with the joint coordinates in its `q` attribute and the status of the solution in other attributes, which we are ignoring here_\n",
     "\n",
     "The manipulability at this particular configuration is"
    ]
@@ -208,7 +222,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "puma.maniplty(q)"
+    "puma.manipulability(q)"
    ]
   },
   {
@@ -287,7 +301,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "import roboticstoolbox.robot.ET as ET\n",
+    "from roboticstoolbox import ET\n",
     "\n",
     "l1 = 0.672\n",
     "l2 = 0.2337\n",
@@ -315,17 +329,17 @@
    "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(l6)\n",
     "    * ET.ty(l4)\n",
-    "    * ET.ry()\n",
+    "    * ET.Ry()\n",
     "    * ET.tz(l5)\n",
-    "    * ET.rz()\n",
-    "    * ET.ry()\n",
-    "    * ET.rz()\n",
+    "    * ET.Rz()\n",
+    "    * ET.Ry()\n",
+    "    * ET.Rz()\n",
     ")"
    ]
   },
@@ -614,7 +628,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "Twist3.R([1, 0, 0], [0, 0, 0])"
+    "Twist3.UnitRevolute([1, 0, 0], [0, 0, 0])"
    ]
   },
   {
@@ -630,7 +644,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "Twist3.P([0, 1, 0])"
+    "Twist3.UnitPrismatic([0, 1, 0])"
    ]
   },
   {
@@ -696,7 +710,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "tw.pitch()"
+    "tw.pitch"
    ]
   },
   {
@@ -712,7 +726,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "tw.pole()"
+    "tw.pole"
    ]
   },
   {
@@ -992,78 +1006,6 @@
     "fig = puma.plot(puma.qz)\n",
     "lines.plot(\"k--\", linewidth=1.5, bounds=np.r_[-1, 1, -1, 1, -1, 1.5])"
    ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "from spatialmath import SO3, SE2\n",
-    "\n",
-    "SO3.Ry(90, unit=\"deg\")"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "SE2() * SO3()"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "tw.exp(0)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "tw.exp(1)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "tw.exp([0, 1])"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "Twist3.P([1, 0, 0])"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "Twist3.Rx(0)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": []
   }
  ],
  "metadata": {
@@ -1120,6 +1062,12 @@
     "_Feature"
    ],
    "window_display": false
+  },
+  "rtb_header": {
+   "title": "IROS 2020 workshop: review on screw theory and geometric robot dynamics",
+   "paragraphs": [],
+   "copyright": "Peter Corke 2020, updated 2026",
+   "modernised": "2026-10-19"
   }
  },
  "nbformat": 4,