diff --git a/docs/demo_notebooks/modeltools/four-bar_linkage_model_and_simulation.ipynb b/docs/demo_notebooks/modeltools/four-bar_linkage_model_and_simulation.ipynb
index b7e9f68..c1a48fa 100644
--- a/docs/demo_notebooks/modeltools/four-bar_linkage_model_and_simulation.ipynb
+++ b/docs/demo_notebooks/modeltools/four-bar_linkage_model_and_simulation.ipynb
@@ -11,17 +11,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 1,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stderr",
-     "output_type": "stream",
-     "text": [
-      "Could not find GLIMDA.\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "%load_ext ipydex.displaytools\n",
     "%matplotlib inline\n",
@@ -34,11 +26,11 @@
     "import symbtools as st\n",
     "import symbtools.modeltools as mt\n",
     "import symbtools.visualisation as vt\n",
-    "from symbtools.modeltools import Rz # Rotationsmatrix in the xy plane (c, -s; s, c)\n",
+    "from symbtools.modeltools import Rz # rotation matrix in the xy plane (c, -s; s, c)\n",
     "import scipy.integrate as sc_integrate\n",
     "import matplotlib.pyplot as pl\n",
-    "from assimulo.solvers import IDA # Imports the solver IDA from Assimulo\n",
-    "from assimulo.problem import Implicit_Problem # Imports the problem formulation from Assimulo\n",
+    "from assimulo.solvers import IDA # imports the solver IDA from Assimulo\n",
+    "from assimulo.problem import Implicit_Problem # imports the problem formulation from Assimulo\n",
     "import ipydex\n",
     "plt = pl\n",
     "\n",
@@ -47,130 +39,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 2,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "image/png": "iVBORw0KGgoAAAANSUhEUgAAAEYAAAAZCAYAAACM9limAAAACXBIWXMAAA7EAAAOxAGVKw4bAAACaElEQVRYCe2ZgU3DMBBFk4oBUEdoNyhiAugGFRsAGxQxAQobdAXaDVomKLBBO0LLBuX91BeZKE5IBQ1Sc9L1fPbZPv/c2U4aR1E0h3uw0XC3261NOQUZx/E165x4a53FKCuA6HuVJ10EJAVJ0jlpFEoW3wITAKcFpgUmgECguo2YFpgAAoHqs0B95M72Ie0D+B4+h3Xeiy7hW475z1Rr4OcY/ukeE+WZtSaqg6bwCh6ZDeUEnpvehJQPf+Ef4/bgaeEe4y45SwxEMvzAiVmq7X8ElEVPWkOfAfzu2fxZsa5/2CfwBJ47qegvpVAqbTwglEpPuVHSmzKTaAIBp1TrwpUTYvMbVMe/RyacsJ70NQeflQGv8EWVI4Wp5MJUUaF8OpdujK73q63pznZEXXAs3/a3ysxX6Z98gns2J2U9aK0pq7M2SdXDxamkVkfafNd0yDZZFyVy6MWMGpQ/9U+LNbK1+HXWlslQKpmBAFiY4uQNUoM/5OqbUCv946HmX5AVMaK3vSj+rQJGg2ysK9EiXSfSlR9F1t6APMQ/+f9Q5X8QGEDQ0xBpRx/vi5HQv2DQxr/XHOIffQTKAv+f3XqCIggMPSx/lUr5dAoOeMSGWv4Byh2+6RDRCVpJnRILRcx/BMRc/rF/Lrr6Bop02PYaG++bLASGTrqPqKOO5TrUrWN8qG0d/xwASqEl5ZGYsg6Oyu3g292DDul9BKlDXTfZMUhnd5h8mXYde/peqvuC+ugCVdonP0YdnbHr+rd1fsm3jENzYqP1TNtvvqDgExElYNpvvj4ofrlwj/ENTrWcplJu8e3/SnxN+ALNrn9P3MjKlgAAAABJRU5ErkJggg==\n",
-      "text/latex": [
-       "pp.T := $\\displaystyle \\left[\\begin{matrix}p_{1} & p_{2}\\end{matrix}\\right]$"
-      ],
-      "text/plain": [
-       "pp.T := [p₁  p₂]"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "---\n"
-     ]
-    },
-    {
-     "data": {
-      "image/png": "iVBORw0KGgoAAAANSUhEUgAAABwAAAAZCAYAAAAiwE4nAAAACXBIWXMAAA7EAAAOxAGVKw4bAAABfUlEQVRIDe2W4VHDMAyFY44BeoyQEboC7QZlBdgAZugIhRHCBmUDjmxQVoANwvdcO2eCHadJyg8O3b1YtmPJepacmKIo9qAEXtZN07z7zpTWGLNi/S6w8Sz9gIPi3MCPgqou5PE35d/h7Gz/fUovc5xRS0rnO3AAC/AIbkFNKb3QnizJOsSSCvcDlL5O0SvQgIUfG9LKhtYmz5DIFI2MP2Cwe/Mouk/mrPDuErz5fl/bR+mWhYpCFIaiqO2YHKGL7iugDQ6SKKWsFJX7kC76okV0rjrjG8aidvx7bm2cUkendlyDUBSd7t1RyaK1yTPUJPJ6bNrnDVp3E+3kECXqkAiUEDIsCq0QtUpBEY6OTob6kuaa+Scc3etFxGeqvp+jJenQRSkKrbgIJ52fDEUpPbr48VwzMun8ZPEUh7nzUy1mJesQKrdAt4jKZIPe/qOgl65vLwn0CvgzTzrvLVhfuFNbvCvj44Wf3NoME1lKZ/DxzYShp+9cKOf8L62/ACQhVnpeB+lQAAAAAElFTkSuQmCC\n",
-      "text/latex": [
-       "qq.T := $\\displaystyle \\left[\\begin{matrix}q_{1}\\end{matrix}\\right]$"
-      ],
-      "text/plain": [
-       "qq.T := [q₁]"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "---\n"
-     ]
-    },
-    {
-     "data": {
-      "image/png": "iVBORw0KGgoAAAANSUhEUgAAAB4AAAAZCAYAAAAmNZ4aAAAACXBIWXMAAA7EAAAOxAGVKw4bAAABeklEQVRIDe2W4VHDMAyFE44BemxA2KBcJ4BuUFaADegxQkdgBcIGZQOgG5QV6Abhezmb0xnbDWkCP0B3r5FlSU9ybDdlURRrUAEv86Zp3vxgiGdZlpfkuTe5HksGW4jOjHFUlSLU5OpoVJZM8n/izOIMO/X3lvp43wK67b/EbwcmYAvuwCnHULZekiV2B78m87m/VLC9Mp4cQqpKk+8YAnUn0qUnVQDyAp5aLfghZuoKC2a+DnMdr3AX+UMQFl5/hQjxuQEnQDGdRFdmEYLId7C2dsZK2oCptXsd+wJE8xmfCp86utRumUWyAVbUrYoM7dankx4lNpHPRpeq5WxJKW4BVH0viRLT0Y5sIvhMDMm1G/u/zBl+Xv82eZTYZbngOYPwFmijaTfPNScbD/2P95bkrnZdX0Uyx2wRt7wp13E+8sDZMYh1lvfKIMS88wrom6q9dNBrtw+SBSTfcTIiMuF2t45aZxmk485sxvHXiNvPW1OI1J/4rt58AAEyj+nC8mMjAAAAAElFTkSuQmCC\n",
-      "text/latex": [
-       "aa.T := $\\displaystyle \\left[\\begin{matrix}a_{1}\\end{matrix}\\right]$"
-      ],
-      "text/plain": [
-       "aa.T := [a₁]"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "---\n"
-     ]
-    },
-    {
-     "data": {
-      "image/png": "iVBORw0KGgoAAAANSUhEUgAAAG0AAAAZCAYAAAA7S6CBAAAACXBIWXMAAA7EAAAOxAGVKw4bAAADRElEQVRoBe2ajW3bMBCFpSADBBkh2SBBJ0iygdMN2m6QoBMU7gZuN6izgdMJ0nqDZISmG7jvk3kGzcqSKFs/AXjAib86Pr0jT6SgPMuyhfRManKzWq1erJDSYRnI8/xaCGYeiodchWc56dyrTNmRMiAHsrimRyPFl2BVMJCcVkHOWJuS08bqmQpcyWkV5Iy1KTltrJ6pwJWcVkHOWJuOdwFz54MbtV9IP0lPpJwZkHfSDzoq/C1KA1zGjs+nxG3V4fBZCo/fpB+lS3H4qDRaOKdlocrKlDrJXMpgE+uj/FS6sPIQKRjGjM84EU4m+qv0zKuDU8g9sbomKTak89Lw6GbGkzogdGRGPBSl9QUn2qoranTPhfS316ezbCw+9Z9KZ9KFS5ntnYvGYhwcdC/+wq9McLqJVOrbmL9d4fGP5yTC45fgCYsvKA4UTmXpn0p7IUPjxOD7rP4zI02YIfGn9FLatRCRWE2EQ1+Y8EUdzlI+mr/S8KiBGATj/y1j1fG98pU+pipPpDttWb9DphqvFh+YpH5ogiSeaVN3SEy+LY1BWNx6jTCulPGvg761/Ll7y8OjGk3YiLzIuL+MWU2Q9cM6DZg2xQdRJvYsfp21HSx1UQiuloFRuGOyt9qAcO8xlwphgND4e9Xx4PcV9/XVVItP5IQfw1lpyK910vnV9gY20K0yoSOtrVF6VNOLB9zMSBd/idNX/uqrsdFlcxt84GdjYCuuE3zOPs7x+WObXzbRojDsXGlyEMYRdl5362zGrL0UoHAn5Jr7S9rg0z047FH4v/aE9ErjfPf4M97YE7SWnU6TRXtfEB7DENl6wAPeGIVPxDHL2cmxU+tF3GojHBbiMOz1PsNQVXjcexmvoXZ2bYxPZNH33BxGWWrvts4Alhhmou31PsNmqdP0QOx6eKjYZXyK0a4lBp9zDmHxSfkJqjybKAtVXcP17ddNtMb8bZ2tNEJxXlDKWYIvHHeaoZvzWJhXOy9a/mHgPMQ9HF4r7wltxJRlOxYfZyVwbWnMmPv21dhMGrgEAzxx2C84Vb4xf67vPP0jIibeiihK4OD0j8hbcZiPs/Sd5ndI+fExUITHAFb67zEgZMiiQiKbF/+/x+U/WVnUtteKca8AAAAASUVORK5CYII=\n",
-      "text/latex": [
-       "ttheta.T := $\\displaystyle \\left[\\begin{matrix}p_{1} & p_{2} & q_{1}\\end{matrix}\\right]$"
-      ],
-      "text/plain": [
-       "ttheta.T := [p₁  p₂  q₁]"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "---\n"
-     ]
-    },
-    {
-     "data": {
-      "image/png": "iVBORw0KGgoAAAANSUhEUgAAAG0AAAAZCAYAAAA7S6CBAAAACXBIWXMAAA7EAAAOxAGVKw4bAAADaElEQVRoBe2agW3bMBBF7cADGBkh2SBBJ0iygdsN2m6QoBMU7gZuN6izgdMJ0nqDZIQmG7j/yTyDZmWJtCWZAXTAiRRFHb/+8U6koOFgMFhIz6QmN6vV6tlO+vK4DAyHw2shmHko7oc6eZKTzr3GvpopA3IgwTU9yRRfD6uCgd5pFeTkeinaaQrNsXQl/ZPjw+SOD86awhjtNL33XjUuC5QsFym548NpTWEcYSxWcl+w5I4PnpvAGB1psY7t+7XPwM5IU/5lf3AjvZB+lo6ltCHvpB9duBcNXR9yx+fzIaxnOofDJyk8fpd+ki7F4YPKZGGfRthuqaxMaZPMpQw2sT6qT6ULOz9GCYac8RknwslEf5GeeW1wCrlja4spsSGdl6ZHNzMe1QGhIzPivjhbH3CiRV3RonsupJ2sLFPxqf9UOpMuXMlsb100FuPgoDvxFy7g4PTVQKhvNH8juyko/3pOIj1+Da4XX1AcKAv9U/XphAyNk4Lvi/rPjDRhhsRf0ktp20JGIppIh74w4Ys2nKU6qTOJv9L0qIEYBOP/hbHa+F75Qh9TnU+kO21ZvyZLjVeLD0xSPzVBEs+0aWsSk29LY5AWt14jjCtl/Ougby1/7t7y9KiLJixEnmXcD2OiCbJ+WqcjlrH4IMrEnsVvs2uNlS4LwdUyMAp3TPa9FiDcO+JQIQwQGv+gNh78ruK+ri7V4hM54cdwIg35vS5aP9rawAZ6r0roSLsWVZ7U9OIBNzPS5V/y9JUffTU22ry8Dz7wszCwiGsFn7OPc3z+WOaXTbQkDDsjTQ7COMLK63ZdHTBrLwUoXAm5y90V++DTPTjsQfi/dYT0SuP88Pgz3lgT7C07nSaL9r4gPYYpcu8BG7wxCZ+IY5azkmOl1om4aCMdFuIwHPQ+w1BVejw4jNdQWztG4xNZ9D03h3EutXdbawBLDDPRDnqfYbPUaXogVj08VGoYn2K0bUnB55xDWnxUfYKqziLKUlXbcH37dRMtmr+tvZVGKPYLKtlL8IXjVjN0sx8L67rOi5Z/GNgPcQ+b18p7Qhsp57Kdio+9Eri2NGXMQ/tqbCYNXIIBntjsF5yqHs2f6zvv/xERE29FlCVwcP+PyFtxmI+z9J3md+jr+TFQpMcAVv/fY0DIMU+VElm8+P89Lv8Bbcb0wgWv07cAAAAASUVORK5CYII=\n",
-      "text/latex": [
-       "tthetad.T := $\\displaystyle \\left[\\begin{matrix}\\dot{p}_{1} & \\dot{p}_{2} & \\dot{q}_{1}\\end{matrix}\\right]$"
-      ],
-      "text/plain": [
-       "tthetad.T := [ṗ₁  ṗ₂  q̇₁]"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "---\n"
-     ]
-    },
-    {
-     "data": {
-      "image/png": "iVBORw0KGgoAAAANSUhEUgAAAG0AAAAZCAYAAAA7S6CBAAAACXBIWXMAAA7EAAAOxAGVKw4bAAADaklEQVRoBe2ajW3bMBCFpcADBBnB2SBBJ0iygdMN2m6QoBMU7gZuN6izgdMJ0nqDZISmG7jvk3kGzcqSKFk/AUTgxF8dn97xTqTsNEmSlWQqsXSz2WxerDLm/TKQpum1ECw8FA+pKs8y0rnXOBYHyoAMiHPNTwaKb4RVwMBotAJyhtpVajS55ELybA8Q1q29zzzEFNb7xMbcIZ6wHouv1Gg5Cv/mtA2taegYG+EbNyJDW24FeOShU3WPG5ECjgbbNTmETFblfHAjuZB8kpxKaCO9k3zQUaGRm2eaal6Gjs9/LOchcMjeAB6/ST5K1uLwUXl04pyWhCItc9qUlhImm9kYleeSldX7yMEwZHzGiXCy0F8lU68NTiH31Nqq5OiQLHM3Im5lPGkAiYGsiIestr1gRPO6rEX3XEh+e2NaK8bi0/i5hF3wyuWs9taT5mIeDHQv/sKvTHC6i1QaW5m/yQHkfzwjER6/BOOyLygOFEbF9c8knZCheWLwfdb4hZEmzJD4U3IpaTsRkfAmwqGfWPBZG8ZSOZq/3PCoiZgE5f+5sdr4XvnKGBPVZ5KDumzcMXPNV4oPTBI/NEESz7RrOyYmX5fmICzuvUaYV8L818HYUv7cvfnhUZ2W2Ii8SLnvxngTZP2wQT3mVfFBlCV7Fr/N+o6WuygEV+tAKdyx2GttQLh3wqUgMUGo/L3aePD7gvu66irFJ3LCj+F4GunXNmv9ansDm+hWhdCQ1lcpPykZxQPuVqSLv8TpK9/7SnS02V0HH/jZGJjHtYLP6cc4Pn9s8/MWWhSGg54mA6GcxM7rbltMWLWXAhTuhFx3d1kdfLoHgz0K/9eOkF5pnu8ef8Ybe4La6aDRpNHeF4THMETWnvCIN0bhE3GscnZy7NQ6Sc7bCIdZchgavc9QVBQeG7vxFmpr18r4RBZjz81g1CX2bmsNYI5iFlqj9xk6c42mB2LXw0PFuvEZSttOMficcQiLTyrPEJXZRFmoahuur79soVXmb+9spRmy84JyzhJ84bjTCt2dx8Ky+nnR8h8GzkPcw+G18J5QR0xdumPxcVYC157EzNl0rOZm0cAlGOCJw37GqcqV+XNjl+NPM2LirSRFCQw8/jTzVgzm48x9p/kDxvLwGMjCYwBr/N9jQEifVYVENi/+/x7X/wAqO+UY3ySgOgAAAABJRU5ErkJggg==\n",
-      "text/latex": [
-       "tthetadd.T := $\\displaystyle \\left[\\begin{matrix}\\ddot{p}_{1} & \\ddot{p}_{2} & \\ddot{q}_{1}\\end{matrix}\\right]$"
-      ],
-      "text/plain": [
-       "tthetadd.T := [p̈₁  p̈₂  q̈₁]"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "---\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "t = sp.Symbol('t')  # time variable\n",
     "\n",
@@ -192,43 +63,25 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": null,
    "metadata": {},
    "outputs": [],
    "source": [
-    "params = sp.symbols('s1, s2, s3, m1, m2, m3, J1, J2, J3, l1, l2, l3, l4, kappa1, kappa2, g')\n",
+    "params = sp.symbols('s1, s2, s3, m1, m2, m3, J1, J2, J3, l1, l2, l3, l4, g')\n",
     "parameter_values = list(dict(s1=1/2, s2=1/2, s3=1/2, m1=1, m2=1, m3=3, J1=1/12 , J2=1/12, J3=1/12,\n",
-    "                             l1=0.8, l2=1.5, l3=1.5, l4=2, kappa1=3/2 , kappa2=14.715, g=9.81).items())\n",
+    "                             l1=0.8, l2=1.5, l3=1.5, l4=2, g=9.81).items())\n",
     "st.make_global(params)\n",
     "\n",
-    "# ttau = sp.symbols('tau')\n",
     "tau1, tau2 = ttau = st.symb_vector(\"tau1, tau2\")\n"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 4,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "image/png": "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\n",
-      "text/latex": [
-       "$\\displaystyle \\left[\\begin{matrix}\\cos{\\left(q_{1} \\right)} & - \\sin{\\left(q_{1} \\right)}\\\\\\sin{\\left(q_{1} \\right)} & \\cos{\\left(q_{1} \\right)}\\end{matrix}\\right]$"
-      ],
-      "text/plain": [
-       "⎡cos(q₁)  -sin(q₁)⎤\n",
-       "⎢                 ⎥\n",
-       "⎣sin(q₁)  cos(q₁) ⎦"
-      ]
-     },
-     "execution_count": 4,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
-    "Rz(q1) # Rotationsmatirx"
+    "Rz(q1) # rotation matrix"
    ]
   },
   {
@@ -240,175 +93,19 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 5,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "image/png": "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\n",
-      "text/latex": [
-       "S1 := $\\displaystyle \\left[\\begin{matrix}s_{1} \\cos{\\left(q_{1} \\right)}\\\\s_{1} \\sin{\\left(q_{1} \\right)}\\end{matrix}\\right]$"
-      ],
-      "text/plain": [
-       "S1 := ⎡s₁⋅cos(q₁)⎤\n",
-       "⎢          ⎥\n",
-       "⎣s₁⋅sin(q₁)⎦"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "---\n"
-     ]
-    },
-    {
-     "data": {
-      "image/png": "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\n",
-      "text/latex": [
-       "G1 := $\\displaystyle \\left[\\begin{matrix}l_{1} \\cos{\\left(q_{1} \\right)}\\\\l_{1} \\sin{\\left(q_{1} \\right)}\\end{matrix}\\right]$"
-      ],
-      "text/plain": [
-       "G1 := ⎡l₁⋅cos(q₁)⎤\n",
-       "⎢          ⎥\n",
-       "⎣l₁⋅sin(q₁)⎦"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "---\n"
-     ]
-    },
-    {
-     "data": {
-      "image/png": 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B7HXEIHb609GF8jqiL/S26cknpl/RPNvmhGO0vamNcwAn+V0Ahb4YUf0wiISwx7Sk/vYmD8mCvYPRH6Lxy7/6YZC9KbzSWyVQQgLmAOw2IE+OhXhbT1SFFfW8SqBKYH8S0Phmn4DI15I7tyUAlWF6rfVK8qGRELCeVwlUCWxfAnIA7DXwMFiYbv4P1q411QjOJcQAAAAASUVORK5CYII=\n",
-      "text/latex": [
-       "S2 := $\\displaystyle \\left[\\begin{matrix}l_{1} \\cos{\\left(q_{1} \\right)} + s_{2} \\cos{\\left(p_{1} + q_{1} \\right)}\\\\l_{1} \\sin{\\left(q_{1} \\right)} + s_{2} \\sin{\\left(p_{1} + q_{1} \\right)}\\end{matrix}\\right]$"
-      ],
-      "text/plain": [
-       "S2 := ⎡l₁⋅cos(q₁) + s₂⋅cos(p₁ + q₁)⎤\n",
-       "⎢                            ⎥\n",
-       "⎣l₁⋅sin(q₁) + s₂⋅sin(p₁ + q₁)⎦"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "---\n"
-     ]
-    },
-    {
-     "data": {
-      "image/png": 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,
-      "text/latex": [
-       "G2 := $\\displaystyle \\left[\\begin{matrix}l_{1} \\cos{\\left(q_{1} \\right)} + l_{2} \\cos{\\left(p_{1} + q_{1} \\right)}\\\\l_{1} \\sin{\\left(q_{1} \\right)} + l_{2} \\sin{\\left(p_{1} + q_{1} \\right)}\\end{matrix}\\right]$"
-      ],
-      "text/plain": [
-       "G2 := ⎡l₁⋅cos(q₁) + l₂⋅cos(p₁ + q₁)⎤\n",
-       "⎢                            ⎥\n",
-       "⎣l₁⋅sin(q₁) + l₂⋅sin(p₁ + q₁)⎦"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "---\n"
-     ]
-    },
-    {
-     "data": {
-      "image/png": "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\n",
-      "text/latex": [
-       "G2b := $\\displaystyle \\left[\\begin{matrix}l_{3} \\cos{\\left(p_{2} \\right)} + l_{4}\\\\l_{3} \\sin{\\left(p_{2} \\right)}\\end{matrix}\\right]$"
-      ],
-      "text/plain": [
-       "G2b := ⎡l₃⋅cos(p₂) + l₄⎤\n",
-       "⎢               ⎥\n",
-       "⎣  l₃⋅sin(p₂)   ⎦"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "---\n"
-     ]
-    },
-    {
-     "data": {
-      "image/png": "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\n",
-      "text/latex": [
-       "S3 := $\\displaystyle \\left[\\begin{matrix}l_{4} + s_{3} \\cos{\\left(p_{2} \\right)}\\\\s_{3} \\sin{\\left(p_{2} \\right)}\\end{matrix}\\right]$"
-      ],
-      "text/plain": [
-       "S3 := ⎡l₄ + s₃⋅cos(p₂)⎤\n",
-       "⎢               ⎥\n",
-       "⎣  s₃⋅sin(p₂)   ⎦"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "---\n"
-     ]
-    },
-    {
-     "data": {
-      "image/png": "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\n",
-      "text/latex": [
-       "constraints := $\\displaystyle \\left[\\begin{matrix}l_{1} \\cos{\\left(q_{1} \\right)} + l_{2} \\cos{\\left(p_{1} + q_{1} \\right)} - l_{3} \\cos{\\left(p_{2} \\right)} - l_{4}\\\\l_{1} \\sin{\\left(q_{1} \\right)} + l_{2} \\sin{\\left(p_{1} + q_{1} \\right)} - l_{3} \\sin{\\left(p_{2} \\right)}\\end{matrix}\\right]$"
-      ],
-      "text/plain": [
-       "constraints := ⎡l₁⋅cos(q₁) + l₂⋅cos(p₁ + q₁) - l₃⋅cos(p₂) - l₄⎤\n",
-       "⎢                                              ⎥\n",
-       "⎣  l₁⋅sin(q₁) + l₂⋅sin(p₁ + q₁) - l₃⋅sin(p₂)   ⎦"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "---\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
-    "# uni vectors\n",
-    "\n",
+    "# unit vectors\n",
     "ex = sp.Matrix([1, 0]) \n",
     "ey = sp.Matrix([0, 1]) \n",
     "\n",
-    "# Basis 1 und 2\n",
+    "# base 1 and 2\n",
     "B1 = sp.Matrix([0, 0])\n",
     "B2 = sp.Matrix([l4, 0])\n",
     "\n",
-    "# Coordinates two link manipulator\n",
+    "# coordinates of the two link manipulator\n",
     "S1 = Rz(q1)*ex*s1 ##:\n",
     "\n",
     "G1 = Rz(q1)*ex*l1 ##:\n",
@@ -418,7 +115,7 @@
     "G2 = G1 + Rz(q1 + p1)*ex*l2 ##:\n",
     "\n",
     "\n",
-    "# one link manipulator\n",
+    "# coordinates of the one link manipulator\n",
     "G2b = B2 + Rz(p2)*ex*l3 ##:\n",
     "\n",
     "S3 = B2 + Rz(p2)*ex*s3 ##:\n",
@@ -426,69 +123,15 @@
     "constraints = sp.Matrix([G2 - G2b]) ##:\n",
     "\n",
     "\n",
-    "# Time derivative\n",
+    "# time derivative\n",
     "Sd1, Sd2, Sd3 = st.col_split(st.time_deriv(st.col_stack(S1, S2, S3), ttheta))"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 6,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "image/png": 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\n",
-      "text/latex": [
-       "T := $\\displaystyle \\frac{J_{1} \\dot{q}_{1}^{2}}{2} + \\frac{J_{2} \\left(\\dot{p}_{1} + \\dot{q}_{1}\\right)^{2}}{2} + \\frac{J_{3} \\dot{p}_{2}^{2}}{2} + \\frac{m_{1} \\dot{q}_{1}^{2} s_{1}^{2} \\sin^{2}{\\left(q_{1} \\right)}}{2} + \\frac{m_{1} \\dot{q}_{1}^{2} s_{1}^{2} \\cos^{2}{\\left(q_{1} \\right)}}{2} + \\frac{m_{2} \\left(- l_{1} \\dot{q}_{1} \\sin{\\left(q_{1} \\right)} - s_{2} \\left(\\dot{p}_{1} + \\dot{q}_{1}\\right) \\sin{\\left(p_{1} + q_{1} \\right)}\\right)^{2}}{2} + \\frac{m_{2} \\left(l_{1} \\dot{q}_{1} \\cos{\\left(q_{1} \\right)} + s_{2} \\left(\\dot{p}_{1} + \\dot{q}_{1}\\right) \\cos{\\left(p_{1} + q_{1} \\right)}\\right)^{2}}{2} + \\frac{m_{3} \\dot{p}_{2}^{2} s_{3}^{2} \\sin^{2}{\\left(p_{2} \\right)}}{2} + \\frac{m_{3} \\dot{p}_{2}^{2} s_{3}^{2} \\cos^{2}{\\left(p_{2} \\right)}}{2}$"
-      ],
-      "text/plain": [
-       "T :=       2                 2         2         2   2    2             2   2    2 \n",
-       "J₁⋅q̇₁    J₂⋅(ṗ₁ + q̇₁)    J₃⋅ṗ₂    m₁⋅q̇₁ ⋅s₁ ⋅sin (q₁)   m₁⋅q̇₁ ⋅s₁ ⋅cos (\n",
-       "─────── + ─────────────── + ─────── + ──────────────────── + ─────────────────\n",
-       "   2             2             2               2                      2       \n",
-       "\n",
-       "                                                        2                     \n",
-       "q₁)   m₂⋅(-l₁⋅q̇₁⋅sin(q₁) - s₂⋅(ṗ₁ + q̇₁)⋅sin(p₁ + q₁))    m₂⋅(l₁⋅q̇₁⋅cos(q₁)\n",
-       "─── + ─────────────────────────────────────────────────── + ──────────────────\n",
-       "                               2                                              \n",
-       "\n",
-       "                               2         2   2    2             2   2    2    \n",
-       " + s₂⋅(ṗ₁ + q̇₁)⋅cos(p₁ + q₁))    m₃⋅ṗ₂ ⋅s₃ ⋅sin (p₂)   m₃⋅ṗ₂ ⋅s₃ ⋅cos (p₂)\n",
-       "──────────────────────────────── + ──────────────────── + ────────────────────\n",
-       "      2                                     2                      2          "
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "---\n"
-     ]
-    },
-    {
-     "data": {
-      "image/png": "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\n",
-      "text/latex": [
-       "V := $\\displaystyle g m_{1} s_{1} \\sin{\\left(q_{1} \\right)} + g m_{2} \\left(l_{1} \\sin{\\left(q_{1} \\right)} + s_{2} \\sin{\\left(p_{1} + q_{1} \\right)}\\right) + g m_{3} s_{3} \\sin{\\left(p_{2} \\right)}$"
-      ],
-      "text/plain": [
-       "V := g⋅m₁⋅s₁⋅sin(q₁) + g⋅m₂⋅(l₁⋅sin(q₁) + s₂⋅sin(p₁ + q₁)) + g⋅m₃⋅s₃⋅sin(p₂)"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "---\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "# kinetic energy\n",
     "\n",
@@ -516,48 +159,21 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 7,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "<module 'symbtools.visualisation' from '/media/workcard/workstickdir/projekte/rst_python/symbtools-TUD-RST-Account/symbtools/visualisation.py'>"
-      ]
-     },
-     "execution_count": 7,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
     "# useful to test recent development of the lib\n",
     "\n",
-    "\n",
     "import importlib as il\n",
     "il.reload(vt)\n"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 8,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "application/vnd.jupyter.widget-view+json": {
-       "model_id": "00f965f4b62c4cd29975d143ff7766cd",
-       "version_major": 2,
-       "version_minor": 0
-      },
-      "text/plain": [
-       "interactive(children=(Checkbox(value=False, description='solve constraints (fmin)'), FloatSlider(value=1.57079…"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    }
-   ],
+   "outputs": [],
    "source": [
     "vis = vt.Visualiser(ttheta, xlim=(-2, 4), ylim=(-3, 3))\n",
     "vis.add_linkage(st.col_stack(B1, G1, G2,).subs(parameter_values))\n",
@@ -566,7 +182,7 @@
     "\n",
     "cnstrs = constraints.subs(parameter_values)\n",
     "\n",
-    "# Note: There are two possibilities for the kinematic chain to close (two solutions to the algebraic constraints)\n",
+    "# Note: there are two possibilities for the kinematic chain to close (two solutions to the algebraic constraints)\n",
     "\n",
     "# prefer \"upward solution\"\n",
     "vis.interact(p1=(-4, 4, .1, pi/2), free_vars=q1, constraints=cnstrs)\n",
@@ -577,63 +193,29 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 9,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "[0, 1, 2]\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "print(list(npy.arange(3)))"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 10,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "CPU times: user 5.32 s, sys: 0 ns, total: 5.32 s\n",
-      "Wall time: 5.33 s\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
-    "external_forces = [0 , 0, tau1]\n",
+    "external_general_forces = [0 , 0, tau1]\n",
     "\n",
-    "%time mod = mt.generate_symbolic_model(T, V, ttheta, external_forces, constraints=constraints)\n"
+    "%time mod = mt.generate_symbolic_model(T, V, ttheta, external_general_forces, constraints=constraints)\n"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 11,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "image/png": "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\n",
-      "text/latex": [
-       "$\\displaystyle \\left[\\begin{matrix}l_{1} \\cos{\\left(q_{1} \\right)} + l_{2} \\cos{\\left(p_{1} + q_{1} \\right)} - l_{3} \\cos{\\left(p_{2} \\right)} - l_{4}\\\\l_{1} \\sin{\\left(q_{1} \\right)} + l_{2} \\sin{\\left(p_{1} + q_{1} \\right)} - l_{3} \\sin{\\left(p_{2} \\right)}\\end{matrix}\\right]$"
-      ],
-      "text/plain": [
-       "⎡l₁⋅cos(q₁) + l₂⋅cos(p₁ + q₁) - l₃⋅cos(p₂) - l₄⎤\n",
-       "⎢                                              ⎥\n",
-       "⎣  l₁⋅sin(q₁) + l₂⋅sin(p₁ + q₁) - l₃⋅sin(p₂)   ⎦"
-      ]
-     },
-     "execution_count": 11,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
     "# condition that endeffectors of the two manipulators are at the same place (x and y)\n",
     "\n",
@@ -642,69 +224,11 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 12,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "image/png": 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\n",
-      "text/latex": [
-       "$\\displaystyle \\left[\\begin{matrix}J_{2} \\ddot{p}_{1} + J_{2} \\ddot{q}_{1} + g m_{2} s_{2} \\cos{\\left(p_{1} + q_{1} \\right)} + l_{1} m_{2} \\ddot{q}_{1} s_{2} \\cos{\\left(p_{1} \\right)} + l_{1} m_{2} \\dot{q}_{1}^{2} s_{2} \\sin{\\left(p_{1} \\right)} + l_{2} \\lambda_{1} \\sin{\\left(p_{1} + q_{1} \\right)} - l_{2} \\lambda_{2} \\cos{\\left(p_{1} + q_{1} \\right)} + m_{2} \\ddot{p}_{1} s_{2}^{2} + m_{2} \\ddot{q}_{1} s_{2}^{2}\\\\J_{3} \\ddot{p}_{2} + g m_{3} s_{3} \\cos{\\left(p_{2} \\right)} - l_{3} \\lambda_{1} \\sin{\\left(p_{2} \\right)} + l_{3} \\lambda_{2} \\cos{\\left(p_{2} \\right)} + m_{3} \\ddot{p}_{2} s_{3}^{2}\\\\J_{1} \\ddot{q}_{1} + J_{2} \\ddot{p}_{1} + J_{2} \\ddot{q}_{1} + g l_{1} m_{2} \\cos{\\left(q_{1} \\right)} + g m_{1} s_{1} \\cos{\\left(q_{1} \\right)} + g m_{2} s_{2} \\cos{\\left(p_{1} + q_{1} \\right)} + l_{1}^{2} m_{2} \\ddot{q}_{1} + l_{1} \\lambda_{1} \\sin{\\left(q_{1} \\right)} - l_{1} \\lambda_{2} \\cos{\\left(q_{1} \\right)} + l_{1} m_{2} \\ddot{p}_{1} s_{2} \\cos{\\left(p_{1} \\right)} - l_{1} m_{2} \\dot{p}_{1}^{2} s_{2} \\sin{\\left(p_{1} \\right)} - 2 l_{1} m_{2} \\dot{p}_{1} \\dot{q}_{1} s_{2} \\sin{\\left(p_{1} \\right)} + 2 l_{1} m_{2} \\ddot{q}_{1} s_{2} \\cos{\\left(p_{1} \\right)} + l_{2} \\lambda_{1} \\sin{\\left(p_{1} + q_{1} \\right)} - l_{2} \\lambda_{2} \\cos{\\left(p_{1} + q_{1} \\right)} + m_{1} \\ddot{q}_{1} s_{1}^{2} + m_{2} \\ddot{p}_{1} s_{2}^{2} + m_{2} \\ddot{q}_{1} s_{2}^{2} - \\tau_{1}\\end{matrix}\\right]$"
-      ],
-      "text/plain": [
-       "⎡                                                                             \n",
-       "⎢                                                                             \n",
-       "⎢                                                                             \n",
-       "⎢                                                                             \n",
-       "⎢                                                                             \n",
-       "⎢                                                                             \n",
-       "⎢                                                                             \n",
-       "⎣J₁⋅q̈₁ + J₂⋅p̈₁ + J₂⋅q̈₁ + g⋅l₁⋅m₂⋅cos(q₁) + g⋅m₁⋅s₁⋅cos(q₁) + g⋅m₂⋅s₂⋅cos(p₁\n",
-       "\n",
-       "                                                                             2\n",
-       "    J₂⋅p̈₁ + J₂⋅q̈₁ + g⋅m₂⋅s₂⋅cos(p₁ + q₁) + l₁⋅m₂⋅q̈₁⋅s₂⋅cos(p₁) + l₁⋅m₂⋅q̇₁ \n",
-       "                                                                              \n",
-       "                                                                              \n",
-       "                                              J₃⋅p̈₂ + g⋅m₃⋅s₃⋅cos(p₂) - l₃⋅λ₁\n",
-       "                                                                              \n",
-       "           2                                                                  \n",
-       " + q₁) + l₁ ⋅m₂⋅q̈₁ + l₁⋅λ₁⋅sin(q₁) - l₁⋅λ₂⋅cos(q₁) + l₁⋅m₂⋅p̈₁⋅s₂⋅cos(p₁) - l\n",
-       "\n",
-       "                                                                 2            \n",
-       "⋅s₂⋅sin(p₁) + l₂⋅λ₁⋅sin(p₁ + q₁) - l₂⋅λ₂⋅cos(p₁ + q₁) + m₂⋅p̈₁⋅s₂  + m₂⋅q̈₁⋅s₂\n",
-       "                                                                              \n",
-       "                                    2                                         \n",
-       "⋅sin(p₂) + l₃⋅λ₂⋅cos(p₂) + m₃⋅p̈₂⋅s₃                                          \n",
-       "                                                                              \n",
-       "        2                                                                     \n",
-       "₁⋅m₂⋅ṗ₁ ⋅s₂⋅sin(p₁) - 2⋅l₁⋅m₂⋅ṗ₁⋅q̇₁⋅s₂⋅sin(p₁) + 2⋅l₁⋅m₂⋅q̈₁⋅s₂⋅cos(p₁) + l\n",
-       "\n",
-       "2                                                                             \n",
-       "                                                                              \n",
-       "                                                                              \n",
-       "                                                                              \n",
-       "                                                                              \n",
-       "                                                                              \n",
-       "                                                  2            2            2 \n",
-       "₂⋅λ₁⋅sin(p₁ + q₁) - l₂⋅λ₂⋅cos(p₁ + q₁) + m₁⋅q̈₁⋅s₁  + m₂⋅p̈₁⋅s₂  + m₂⋅q̈₁⋅s₂  \n",
-       "\n",
-       "    ⎤\n",
-       "    ⎥\n",
-       "    ⎥\n",
-       "    ⎥\n",
-       "    ⎥\n",
-       "    ⎥\n",
-       "    ⎥\n",
-       "- τ₁⎦"
-      ]
-     },
-     "execution_count": 12,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
-    "# ODE-part oft the equation\n",
+    "# ODE-part of the equation\n",
     "\n",
     "mod.eqns"
    ]
@@ -718,33 +242,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 13,
-   "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "image/png": 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giY0N7Dm7DqymguHUMSahivqUVcKqzYLKqpzY1KlIFga98xTICuTlEURWNtRJR+NlwT9UN7OanIBTqh14gmXmMMUTDoFOOFud1W5YcgcfnVb7gJXBvsThOvZS9kIu50AYPAh+2kXK/3+7spf0YXiWfpCRMLObrhnswKqTDZqisJNNWmIMXWDHmiGIMelu2Y9pd2mjJR8nizHhEFn8/uNw56ct5e3i+lZjLtgqMcCQEs+28qKyKJr7PGwz3VPEIoCQz064QQKSPQLO6IB3Kw/py1mZ4Uc8rnWIGK+sjNzgHaPZKz1oL8nCf3H78jAAE95fHOa/PdrL4xAZWbG5TmxWJ0rDbn95dM1Pd8QYsrXCWRBjvrKt3DjT4MQJ2lPHWGmfsvppZTPb/MWhtVOho7oZO6uMrYFBbLYUllHYXmI7wzicrRVnlGOAx5ix4PbpXT7bS0tH4/JyjsgzDXg5BSrS5NqLlSIOPsZnz/ZCRt9Boj4GMGSJDmIQNQy1MYYorXCWxJicxVPxxpbbc+Er1Y+uGsbW+lRLm9H2FFo7FRjhvYszHf+buNp28szW45em3uUAQVrNALAPtgDsgEre5NTEH44vNGiV8JOz7C+pr5Q2aS/JCPj5O+W17bWu7OUpgcHItxnXyMRfbuNYugk7YgwZW+IsijFwpQhv3wlrbkIas8mVwFhBn2pps8kGt6ezNidsUTFz/0lAOWYWSGdnZfJIBsBpcM1NPR4RBaAMDO5+C0tjnhp5rMjgsUx/btPdHi7A/EH1xG5gA+yXiqHwoxJfqTyzK4LbtlrrDBfU4d/7Sob3FiFpL8mJ0+RGttNdjMcu7SX+cfgE7sc5m4EjtlSd7QxBRz97YAzxWuEsiTFP7zh6PmzKY9/uAQsv24wB3Y0JpRgTfW6fQvZWNvP1bs6bvqciQETfeRF33FSevbuQom+VB4+K03soMT5EA0CUfSiz0ldlpQ3Fo/Rh29n8TkSId9IUGJDNex7edbP3n2J8Wt6C9oJ/xWz9inbVZik+XJ6tp4pNVNdRGLP6ORpnTrYaR8nERHE2TukaHgFe9B2xGm1vrUN8HY0x1ZHdp0Tb3Gbigcl7F++piI9kuJPM7SOTwShnpcVNyNQ+8JqszOJiq6JcTbAdGJrZ5ZY/oNNsCjChg3fMHIk6Rx+9zu5j9qITL7dLlZQMazZLFraZNW1yLMZgqQbOcuTOotHAzsr2syJHF8AY1109POGY0/EojG3oU13ZbDYD2OqZa5aTQfC6DJ54e2YjbFdVmcnV5NOvS/yxpZVcrSgfXU+zecpTRnFVVtEwW9v8Jr3Pa+1z8YVcCDOLtdupWZ94ndlL1+gX/qe36GPtiSbLZrHye6aLt80Ygy+FLnEmvtzEhW1JBmzGhGR/21PPOXWLv2Mwlt2n1E4XNhMf2Ai+zU+X2xQ5huuFRnpkoJl9xsPxpnQ6AS9r0WtxlPyZV3TbL5SnMjOAhmhGWr5Opc/JXjo321g6Yh/s1PUEJmRn8Xw0xqhXYeCssG+G7GF1eSkY68Vm4sM4Fd7nwLPwZEtqW0YkI6xpQEtWQPRAujRvy6/R5+arXvbJeaKq1+2kXFG6otvLXl0JWcDMwFmBsjJJ98ZYTzYTLziVt8OpZIJjkA0NDA0MDQwNxDXgnMptS8J/jfjUszeK/YxxPjQwNDA0MDQwNCCfwb0cdmdcMOdupUKmH3jBKOdpJr/MOB8aGBoYGhgauCYakFPhPp57n8tJff4/HneQ9ST1IKEAAAAASUVORK5CYII=\n",
-      "text/latex": [
-       "$\\displaystyle \\left[\\begin{matrix}l_{1} \\cos{\\left(q_{1} \\right)} + l_{2} \\cos{\\left(p_{1} + q_{1} \\right)} - l_{3} \\cos{\\left(p_{2} \\right)} - l_{4}\\\\l_{1} \\sin{\\left(q_{1} \\right)} + l_{2} \\sin{\\left(p_{1} + q_{1} \\right)} - l_{3} \\sin{\\left(p_{2} \\right)}\\end{matrix}\\right]$"
-      ],
-      "text/plain": [
-       "⎡l₁⋅cos(q₁) + l₂⋅cos(p₁ + q₁) - l₃⋅cos(p₂) - l₄⎤\n",
-       "⎢                                              ⎥\n",
-       "⎣  l₁⋅sin(q₁) + l₂⋅sin(p₁ + q₁) - l₃⋅sin(p₂)   ⎦"
-      ]
-     },
-     "execution_count": 13,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
-   "source": [
-    "mod.constraints"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 14,
+   "execution_count": null,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -756,50 +254,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 15,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "image/png": "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\n",
-      "text/latex": [
-       "(dae.yy).T := $\\displaystyle \\left[\\begin{matrix}p_{1} & p_{2} & q_{1} & \\dot{p}_{1} & \\dot{p}_{2} & \\dot{q}_{1} & \\lambda_{1} & \\lambda_{2}\\end{matrix}\\right]$"
-      ],
-      "text/plain": [
-       "(dae.yy).T := [p₁  p₂  q₁  ṗ₁  ṗ₂  q̇₁  λ₁  λ₂]"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "---\n"
-     ]
-    },
-    {
-     "data": {
-      "image/png": "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\n",
-      "text/latex": [
-       "(dae.yyd).T := $\\displaystyle \\left[\\begin{matrix}\\dot{y}_{1} & \\dot{y}_{2} & \\dot{y}_{3} & \\dot{y}_{4} & \\dot{y}_{5} & \\dot{y}_{6} & \\dot{y}_{7} & \\dot{y}_{8}\\end{matrix}\\right]$"
-      ],
-      "text/plain": [
-       "(dae.yyd).T := [ẏ₁  ẏ₂  ẏ₃  ẏ₄  ẏ₅  ẏ₆  ẏ₇  ẏ₈]"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "---\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "# show dae variables\n",
     "\n",
@@ -816,54 +273,21 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 16,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Optimization terminated successfully.\n",
-      "         Current function value: 0.000000\n",
-      "         Iterations: 91\n",
-      "         Function evaluations: 176\n",
-      "Optimization terminated successfully.\n",
-      "         Current function value: 0.000000\n",
-      "         Iterations: 33\n",
-      "         Function evaluations: 67\n"
-     ]
-    },
-    {
-     "data": {
-      "text/plain": [
-       "(yy0, yyd0) := (array([ 0.3       ,  1.74961317,  0.50948621,  0.        ,  0.        ,  0.        , -0.27535424,  0.5455313 ]),\n",
-       " array([  0.        ,   0.        ,   0.        ,  23.53968609,   2.82766884, -14.48960943,  -0.        ,   0.        ]))"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "---\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "yy0, yyd0 = dae.calc_consistent_init_vals(p1=0.3) ##:\n",
     "\n",
     "t0 = 0\n",
     "\n",
-    "\n",
     "# check if all values are almost zero (-> initial values fulfill the model)\n",
     "assert npy.allclose(dae.model_func(t0, yy0, yyd0), 0)"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 17,
+   "execution_count": null,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -874,7 +298,7 @@
     "# model.algvar = dae.diff_alg_vars ##:\n",
     "\n",
     "sim = IDA(model)\n",
-    "# sim.suppress_alg = True #Necessary to set to True for >1 index problem\n",
+    "# sim.suppress_alg = True # neccessary to set to True for >1 index problem\n",
     "\n",
     "# values <= 30 produce lots of output\n",
     "sim.verbosity = 0"
@@ -882,49 +306,20 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 18,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "No initialization defined for the problem.\n",
-      "No finalization defined for the problem.\n",
-      "Final Run Statistics: fourbar linkage \n",
-      "\n",
-      " Number of steps                                 : 3504\n",
-      " Number of function evaluations                  : 5621\n",
-      " Number of Jacobian evaluations                  : 199\n",
-      " Number of function eval. due to Jacobian eval.  : 1592\n",
-      " Number of error test failures                   : 100\n",
-      " Number of nonlinear iterations                  : 5621\n",
-      " Number of nonlinear convergence failures        : 0\n",
-      "\n",
-      "Solver options:\n",
-      "\n",
-      " Solver                       : IDA (BDF)\n",
-      " Maximal order                : 5\n",
-      " Suppressed algebr. variables : False\n",
-      " Tolerances (absolute)        : 1e-06\n",
-      " Tolerances (relative)        : 1e-06\n",
-      "\n",
-      "Simulation interval    : 0.0 - 10.0 seconds.\n",
-      "Elapsed simulation time: 9.14327409299949 seconds.\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
-    "tfinal = 10.0        # Specify the final time\n",
-    "ncp = 500            # Number of communication points (number of return points)\n",
+    "tfinal = 10.0        # specify the final time\n",
+    "ncp = 500            # number of communication points (number of return points)\n",
     "\n",
-    "# takes about 48 seconds\n",
+    "# takes up to 50 seconds\n",
     "tt_sol, yy_sol, yyd_sol = sim.simulate(tfinal, ncp) "
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 19,
+   "execution_count": null,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -934,32 +329,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 20,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "Text(0.5, 1.0, 'angular velocities')"
-      ]
-     },
-     "execution_count": 20,
-     "metadata": {},
-     "output_type": "execute_result"
-    },
-    {
-     "data": {
-      "image/png": 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\n",
-      "text/plain": [
-       "<Figure size 1080x504 with 2 Axes>"
-      ]
-     },
-     "metadata": {
-      "needs_background": "light"
-     },
-     "output_type": "display_data"
-    }
-   ],
+   "outputs": [],
    "source": [
     "fig, (ax1, ax2) = plt.subplots(1, 2, figsize=(15, 7)); plt.sca(ax1)\n",
     "\n",
@@ -979,32 +351,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 21,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "image/png": "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\n",
-      "text/latex": [
-       "joint_pos_expr := $\\displaystyle \\left[\\begin{matrix}0 & 0.8 \\cos{\\left(q_{1} \\right)} & 0.8 \\cos{\\left(q_{1} \\right)} + 1.5 \\cos{\\left(p_{1} + q_{1} \\right)} & 2\\\\0 & 0.8 \\sin{\\left(q_{1} \\right)} & 0.8 \\sin{\\left(q_{1} \\right)} + 1.5 \\sin{\\left(p_{1} + q_{1} \\right)} & 0\\end{matrix}\\right]$"
-      ],
-      "text/plain": [
-       "joint_pos_expr := ⎡0  0.8⋅cos(q₁)  0.8⋅cos(q₁) + 1.5⋅cos(p₁ + q₁)  2⎤\n",
-       "⎢                                                 ⎥\n",
-       "⎣0  0.8⋅sin(q₁)  0.8⋅sin(q₁) + 1.5⋅sin(p₁ + q₁)  0⎦"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "---\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "joint_pos_expr = st.col_stack(B1, G1, G2, B2).subs(parameter_values) ##:\n",
     "joint_pos_func = st.expr_to_func(mod.tt, joint_pos_expr, keep_shape=True)"
@@ -1012,24 +361,11 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 22,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "image/png": 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\n",
-      "text/plain": [
-       "<Figure size 1008x504 with 1 Axes>"
-      ]
-     },
-     "execution_count": 22,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
-    "# Create object for Animation\n",
-    "\n",
+    "# create object for animation\n",
     "simanim = vt.SimAnimation(mod.xx[:3], tt_sol, yy_sol[:, :3], figsize=(14, 7))\n",
     "simanim.add_visualiser(vis)\n",
     "\n",
@@ -1039,7 +375,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 23,
+   "execution_count": null,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -1058,34 +394,24 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 24,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/html": [
-       "\n",
-       "    <video   controls loop=\"loop\">\n",
-       "        <source src=\"fourbar_linkage_free_movement2.webm\" type=\"video/mp4\">\n",
-       "    </video>\n",
-       "    "
-      ],
-      "text/plain": [
-       "<IPython.core.display.HTML object>"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    }
-   ],
+   "outputs": [],
    "source": [
     "vt.display_video_file(fname)"
    ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
   }
  ],
  "metadata": {
   "kernelspec": {
-   "display_name": "Python 3",
+   "display_name": "Python 3 (ipykernel)",
    "language": "python",
    "name": "python3"
   },
@@ -1099,7 +425,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.7.3"
+   "version": "3.9.7"
   }
  },
  "nbformat": 4,