In ets conversion, offset preceeds joint variable
@@ -495,9 +495,9 @@ class DHLink(Link):
# DH format: theta d a alpha
if self.isrevolute:
- ets *= ETS.rz(flip=self.flip)
if self.offset != 0:
ets *= ETS.rz(self.offset)
+ ets *= ETS.rz(flip=self.flip)
if self.d != 0:
ets *= ETS.tz(self.d)
