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chore(notebooks): a notebook can ask for toolbox extras in its metadata, and ik-symbolic joins the JupyterLite site #849

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Merged
petercorke merged 1 commit into from
Oct 19, 2026
Merged

chore(notebooks): a notebook can ask for toolbox extras in its metadata, and ik-symbolic joins the JupyterLite site #849

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7 changes: 3 additions & 4 deletions .github/workflows/docs.yml
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Expand Up @@ -95,15 +95,14 @@ jobs:
# it benchmarks numeric IK solver performance and uses the
# websocket-based Swift visualizer, neither of which is meaningful
# or functional inside the Pyodide sandbox -- it stays Colab-only.
# ik-symbolic.ipynb is excluded until it has been tried in Pyodide: it
# needs SymPy, and deriving the equations without python-flint may be
# very slow in the browser.
# ik-symbolic.ipynb is included: SymPy is one of Pyodide's own packages
# and the derivation takes 1 to 10 s without python-flint (timed in
# docs/lite/wasm_check, which checks it on every build).
run: |
mkdir -p docs/lite/files
rsync -a --exclude '.ipynb_checkpoints' --exclude '__pycache__' \
--exclude 'Untitled*.ipynb' --exclude '*.py' --exclude 'Makefile' --exclude 'README.md' \
--exclude 'ik_benchmark.ipynb' \
--exclude 'ik-symbolic.ipynb' \
docs/notebooks/ docs/lite/files/

- name: Adapt staged notebooks for JupyterLite
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14 changes: 13 additions & 1 deletion docs/lite/wasm_check/check_pyodide_install.mjs
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Expand Up @@ -72,10 +72,22 @@ async def _redirect_wheel_install(requirements, **kwargs):
return await _real_install(requirements, **kwargs)
micropip.install = _redirect_wheel_install

await bootstrap.ensure_installed()
await bootstrap.ensure_installed(extras=['ik'])

import roboticstoolbox as rtb # noqa: F401
rtb.models.DH.Panda().fkine([0, 0, 0, 0, 0, 0, 0])

# the notebook ik-symbolic.ipynb: SymPy only, since python-flint is not usable in
# Pyodide 0.27. A closed-form arm and a general 6R arm (the slow one, about 10 s).
import time, warnings
warnings.simplefilter("ignore")
for name in ("Puma560", "Jaco"):
robot = getattr(rtb.models.DH, name)()
t = time.time()
ik = robot.analytic_ik()
sol = ik.solve(robot.fkine([0.1] * robot.n))
assert len(sol.q) > 0, name
print(f"analytic_ik {name}: {type(ik).__name__}, {time.time() - t:.1f}s")
print("import roboticstoolbox: OK")
`;

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16 changes: 14 additions & 2 deletions docs/notebooks/README.md
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Expand Up @@ -32,5 +32,17 @@ run in the `docs.yml` workflow, and `tests/test_notebook_bootstrap.py` tests the
`docs/lite/wasm_check/` runs the bootstrap in Pyodide under Node.js against the wheel
just built, in CI. See its README.

`ik-symbolic.ipynb` has no bootstrap cell yet: it needs the `ik` extra (SymPy and
python-flint), and is not part of the JupyterLite site.
## Extras

A notebook that needs a toolbox extra says so in its own metadata, not in the cell:

```json
"metadata": {"rtb_bootstrap": {"extras": ["ik"]}}
```

`sync_bootstrap.py` then generates `ensure_installed(extras=['ik'])`. For `ik`, Colab
installs `roboticstoolbox-python[ik]`, a local install is told what to install if SymPy
is missing, and in the browser SymPy comes from Pyodide's own packages. python-flint is
not installed in the browser: the one bundled with Pyodide 0.27 is too old, and the
toolbox then uses SymPy alone (about 2x slower; 10 s for a general 6R arm).
`ik-symbolic.ipynb` is the one notebook that does this.
31 changes: 22 additions & 9 deletions docs/notebooks/_rtb_nb_bootstrap.py
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Expand Up @@ -14,9 +14,12 @@
from pathlib import Path


async def ensure_installed() -> bool:
async def ensure_installed(extras: tuple[str, ...] | list[str] = ()) -> bool:
"""Install roboticstoolbox-python if needed, and report the environment.

:param extras: toolbox extras the notebook needs, for example ``["ik"]``. They
are set per notebook in its metadata (``rtb_bootstrap.extras``) and
passed here by the generated cell.
:returns: True if running on Google Colab, False otherwise.
"""
if sys.platform == "emscripten":
Expand All @@ -31,6 +34,12 @@ async def ensure_installed() -> bool:
# (rai-opensource/spatialmath-python#250).
await micropip.install("spatialmath-python", deps=False)
await micropip.install("ipympl")
if "ik" in extras:
# SymPy is one of Pyodide's own packages. python-flint is not installed:
# the one bundled with Pyodide 0.27 is too old for the toolbox, which
# then uses SymPy for the polynomial steps, about 2x slower for a
# general 6R arm (10 s to derive a Kinova Jaco).
await micropip.install("sympy")

wheels = sorted(Path("/pypi").glob("roboticstoolbox_python-*.whl"))
if wheels:
Expand All @@ -47,17 +56,21 @@ async def ensure_installed() -> bool:
import google.colab # noqa: F401
except ImportError:
where, colab = "locally", False
if "ik" in extras:
try:
import sympy # noqa: F401
except ImportError:
print(
"This notebook needs SymPy: "
"pip install 'roboticstoolbox-python[ik]'"
)
else:
print("Installing roboticstoolbox-python...")
requirement = "roboticstoolbox-python"
if extras:
requirement += "[" + ",".join(extras) + "]"
subprocess.run(
[
sys.executable,
"-m",
"pip",
"install",
"-q",
"roboticstoolbox-python",
],
[sys.executable, "-m", "pip", "install", "-q", requirement],
check=True,
)
where, colab = "on Colab", True
Expand Down
31 changes: 22 additions & 9 deletions docs/notebooks/branched-robot.ipynb
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Expand Up @@ -28,9 +28,12 @@
"from pathlib import Path\n",
"\n",
"\n",
"async def ensure_installed() -> bool:\n",
"async def ensure_installed(extras: tuple[str, ...] | list[str] = ()) -> bool:\n",
" \"\"\"Install roboticstoolbox-python if needed, and report the environment.\n",
"\n",
" :param extras: toolbox extras the notebook needs, for example ``[\"ik\"]``. They\n",
" are set per notebook in its metadata (``rtb_bootstrap.extras``) and\n",
" passed here by the generated cell.\n",
" :returns: True if running on Google Colab, False otherwise.\n",
" \"\"\"\n",
" if sys.platform == \"emscripten\":\n",
Expand All @@ -45,6 +48,12 @@
" # (rai-opensource/spatialmath-python#250).\n",
" await micropip.install(\"spatialmath-python\", deps=False)\n",
" await micropip.install(\"ipympl\")\n",
" if \"ik\" in extras:\n",
" # SymPy is one of Pyodide's own packages. python-flint is not installed:\n",
" # the one bundled with Pyodide 0.27 is too old for the toolbox, which\n",
" # then uses SymPy for the polynomial steps, about 2x slower for a\n",
" # general 6R arm (10 s to derive a Kinova Jaco).\n",
" await micropip.install(\"sympy\")\n",
"\n",
" wheels = sorted(Path(\"/pypi\").glob(\"roboticstoolbox_python-*.whl\"))\n",
" if wheels:\n",
Expand All @@ -61,17 +70,21 @@
" import google.colab # noqa: F401\n",
" except ImportError:\n",
" where, colab = \"locally\", False\n",
" if \"ik\" in extras:\n",
" try:\n",
" import sympy # noqa: F401\n",
" except ImportError:\n",
" print(\n",
" \"This notebook needs SymPy: \"\n",
" \"pip install 'roboticstoolbox-python[ik]'\"\n",
" )\n",
" else:\n",
" print(\"Installing roboticstoolbox-python...\")\n",
" requirement = \"roboticstoolbox-python\"\n",
" if extras:\n",
" requirement += \"[\" + \",\".join(extras) + \"]\"\n",
" subprocess.run(\n",
" [\n",
" sys.executable,\n",
" \"-m\",\n",
" \"pip\",\n",
" \"install\",\n",
" \"-q\",\n",
" \"roboticstoolbox-python\",\n",
" ],\n",
" [sys.executable, \"-m\", \"pip\", \"install\", \"-q\", requirement],\n",
" check=True,\n",
" )\n",
" where, colab = \"on Colab\", True\n",
Expand Down
31 changes: 22 additions & 9 deletions docs/notebooks/dynamics.ipynb
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Expand Up @@ -28,9 +28,12 @@
"from pathlib import Path\n",
"\n",
"\n",
"async def ensure_installed() -> bool:\n",
"async def ensure_installed(extras: tuple[str, ...] | list[str] = ()) -> bool:\n",
" \"\"\"Install roboticstoolbox-python if needed, and report the environment.\n",
"\n",
" :param extras: toolbox extras the notebook needs, for example ``[\"ik\"]``. They\n",
" are set per notebook in its metadata (``rtb_bootstrap.extras``) and\n",
" passed here by the generated cell.\n",
" :returns: True if running on Google Colab, False otherwise.\n",
" \"\"\"\n",
" if sys.platform == \"emscripten\":\n",
Expand All @@ -45,6 +48,12 @@
" # (rai-opensource/spatialmath-python#250).\n",
" await micropip.install(\"spatialmath-python\", deps=False)\n",
" await micropip.install(\"ipympl\")\n",
" if \"ik\" in extras:\n",
" # SymPy is one of Pyodide's own packages. python-flint is not installed:\n",
" # the one bundled with Pyodide 0.27 is too old for the toolbox, which\n",
" # then uses SymPy for the polynomial steps, about 2x slower for a\n",
" # general 6R arm (10 s to derive a Kinova Jaco).\n",
" await micropip.install(\"sympy\")\n",
"\n",
" wheels = sorted(Path(\"/pypi\").glob(\"roboticstoolbox_python-*.whl\"))\n",
" if wheels:\n",
Expand All @@ -61,17 +70,21 @@
" import google.colab # noqa: F401\n",
" except ImportError:\n",
" where, colab = \"locally\", False\n",
" if \"ik\" in extras:\n",
" try:\n",
" import sympy # noqa: F401\n",
" except ImportError:\n",
" print(\n",
" \"This notebook needs SymPy: \"\n",
" \"pip install 'roboticstoolbox-python[ik]'\"\n",
" )\n",
" else:\n",
" print(\"Installing roboticstoolbox-python...\")\n",
" requirement = \"roboticstoolbox-python\"\n",
" if extras:\n",
" requirement += \"[\" + \",\".join(extras) + \"]\"\n",
" subprocess.run(\n",
" [\n",
" sys.executable,\n",
" \"-m\",\n",
" \"pip\",\n",
" \"install\",\n",
" \"-q\",\n",
" \"roboticstoolbox-python\",\n",
" ],\n",
" [sys.executable, \"-m\", \"pip\", \"install\", \"-q\", requirement],\n",
" check=True,\n",
" )\n",
" where, colab = \"on Colab\", True\n",
Expand Down
31 changes: 22 additions & 9 deletions docs/notebooks/ets.ipynb
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Expand Up @@ -36,9 +36,12 @@
"from pathlib import Path\n",
"\n",
"\n",
"async def ensure_installed() -> bool:\n",
"async def ensure_installed(extras: tuple[str, ...] | list[str] = ()) -> bool:\n",
" \"\"\"Install roboticstoolbox-python if needed, and report the environment.\n",
"\n",
" :param extras: toolbox extras the notebook needs, for example ``[\"ik\"]``. They\n",
" are set per notebook in its metadata (``rtb_bootstrap.extras``) and\n",
" passed here by the generated cell.\n",
" :returns: True if running on Google Colab, False otherwise.\n",
" \"\"\"\n",
" if sys.platform == \"emscripten\":\n",
Expand All @@ -53,6 +56,12 @@
" # (rai-opensource/spatialmath-python#250).\n",
" await micropip.install(\"spatialmath-python\", deps=False)\n",
" await micropip.install(\"ipympl\")\n",
" if \"ik\" in extras:\n",
" # SymPy is one of Pyodide's own packages. python-flint is not installed:\n",
" # the one bundled with Pyodide 0.27 is too old for the toolbox, which\n",
" # then uses SymPy for the polynomial steps, about 2x slower for a\n",
" # general 6R arm (10 s to derive a Kinova Jaco).\n",
" await micropip.install(\"sympy\")\n",
"\n",
" wheels = sorted(Path(\"/pypi\").glob(\"roboticstoolbox_python-*.whl\"))\n",
" if wheels:\n",
Expand All @@ -69,17 +78,21 @@
" import google.colab # noqa: F401\n",
" except ImportError:\n",
" where, colab = \"locally\", False\n",
" if \"ik\" in extras:\n",
" try:\n",
" import sympy # noqa: F401\n",
" except ImportError:\n",
" print(\n",
" \"This notebook needs SymPy: \"\n",
" \"pip install 'roboticstoolbox-python[ik]'\"\n",
" )\n",
" else:\n",
" print(\"Installing roboticstoolbox-python...\")\n",
" requirement = \"roboticstoolbox-python\"\n",
" if extras:\n",
" requirement += \"[\" + \",\".join(extras) + \"]\"\n",
" subprocess.run(\n",
" [\n",
" sys.executable,\n",
" \"-m\",\n",
" \"pip\",\n",
" \"install\",\n",
" \"-q\",\n",
" \"roboticstoolbox-python\",\n",
" ],\n",
" [sys.executable, \"-m\", \"pip\", \"install\", \"-q\", requirement],\n",
" check=True,\n",
" )\n",
" where, colab = \"on Colab\", True\n",
Expand Down
31 changes: 22 additions & 9 deletions docs/notebooks/graphics-test.ipynb
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Original file line number Diff line number Diff line change
Expand Up @@ -28,9 +28,12 @@
"from pathlib import Path\n",
"\n",
"\n",
"async def ensure_installed() -> bool:\n",
"async def ensure_installed(extras: tuple[str, ...] | list[str] = ()) -> bool:\n",
" \"\"\"Install roboticstoolbox-python if needed, and report the environment.\n",
"\n",
" :param extras: toolbox extras the notebook needs, for example ``[\"ik\"]``. They\n",
" are set per notebook in its metadata (``rtb_bootstrap.extras``) and\n",
" passed here by the generated cell.\n",
" :returns: True if running on Google Colab, False otherwise.\n",
" \"\"\"\n",
" if sys.platform == \"emscripten\":\n",
Expand All @@ -45,6 +48,12 @@
" # (rai-opensource/spatialmath-python#250).\n",
" await micropip.install(\"spatialmath-python\", deps=False)\n",
" await micropip.install(\"ipympl\")\n",
" if \"ik\" in extras:\n",
" # SymPy is one of Pyodide's own packages. python-flint is not installed:\n",
" # the one bundled with Pyodide 0.27 is too old for the toolbox, which\n",
" # then uses SymPy for the polynomial steps, about 2x slower for a\n",
" # general 6R arm (10 s to derive a Kinova Jaco).\n",
" await micropip.install(\"sympy\")\n",
"\n",
" wheels = sorted(Path(\"/pypi\").glob(\"roboticstoolbox_python-*.whl\"))\n",
" if wheels:\n",
Expand All @@ -61,17 +70,21 @@
" import google.colab # noqa: F401\n",
" except ImportError:\n",
" where, colab = \"locally\", False\n",
" if \"ik\" in extras:\n",
" try:\n",
" import sympy # noqa: F401\n",
" except ImportError:\n",
" print(\n",
" \"This notebook needs SymPy: \"\n",
" \"pip install 'roboticstoolbox-python[ik]'\"\n",
" )\n",
" else:\n",
" print(\"Installing roboticstoolbox-python...\")\n",
" requirement = \"roboticstoolbox-python\"\n",
" if extras:\n",
" requirement += \"[\" + \",\".join(extras) + \"]\"\n",
" subprocess.run(\n",
" [\n",
" sys.executable,\n",
" \"-m\",\n",
" \"pip\",\n",
" \"install\",\n",
" \"-q\",\n",
" \"roboticstoolbox-python\",\n",
" ],\n",
" [sys.executable, \"-m\", \"pip\", \"install\", \"-q\", requirement],\n",
" check=True,\n",
" )\n",
" where, colab = \"on Colab\", True\n",
Expand Down
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