make ets compat
@@ -15,7 +15,16 @@ from roboticstoolbox import rtb_set_param
from spatialmath.base.argcheck import getvector, isscalar, verifymatrix, getmatrix
# from spatialmath import base
-from spatialmath.base import tr2jac, tr2eul, tr2rpy, t2r, eul2jac, rpy2jac, trlog, angvelxform
+from spatialmath.base import (
+ tr2jac,
+ tr2eul,
+ tr2rpy,
+ t2r,
+ eul2jac,
+ rpy2jac,
+ trlog,
+ angvelxform,
+)
from spatialmath import SE3, Twist3
import spatialmath.base.symbolic as sym
@@ -835,7 +844,7 @@ class DHRobot(Robot):
return tw, T[-1]
- def ets(self):
+ def ets(self, *args, **kwargs):
"""
Robot kinematics as an elemenary transform sequence
