I think the approach makes a lot of sense. In the past I’ve been using Matlab and Mathematica to solve robotics / trajectories problems symbolically and then ge

I think the approach makes a lot of sense. In the past I’ve been using Matlab and Mathematica to solve robotics / trajectories problems symbolically and then generate code from the solutions, as big fat inlined functions. Having a toolbox based on modern open source and widely adopted tools like Sympy to do this automatically is super powerful.