I'd say it's an error on the docs....

*SQLFORM.grid(db.parent,left=db.child.on(db.child.parent=db.parent.id))  *

should be

*SQLFORM.grid(db.parent,left=db.child.on(db.child.parent==db.parent.id 
<http://db.parent.id>)) *


i.e. the condition must have two "equal signs" instead of one. 

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