fix intertia tests

Author: jhavl

roboticstoolbox/robot/DHRobot.py

@@ -1235,6 +1235,9 @@ def jacob0_analytical(self, q, representation=None, T=None):
         # compute Jacobian in world frame
         J0 = self.jacob0(q, T)
 
+        if representation is None:
+            return J0
+
         # compute rotational transform if analytical Jacobian required
 
         if representation == "rpy/xyz":
@@ -1385,10 +1388,10 @@ def rne(self, q, qd=None, qdd=None, gravity=None, fext=None, base_wrench=False):
         """
 
         if base_wrench:
-            return self.rne_python(q, qd, qdd, 
-                                gravity=gravity, fext=fext,
-                                base_wrench=base_wrench)
-        
+            return self.rne_python(
+                q, qd, qdd, gravity=gravity, fext=fext, base_wrench=base_wrench
+            )
+
         trajn = 1
 
         try:

tests/test_DHRobot.py

@@ -1140,8 +1140,8 @@ def test_inertia_x(self):
             [0.0000, -0.9652, -0.0000, 0.1941, 0.0000, 0.5791],
         ]
 
-        M0 = puma.inertia_x(q, representation="rpy/xyz")
-        M1 = puma.inertia_x(np.c_[q, q].T, representation="rpy/xyz")
+        M0 = puma.inertia_x(q, representation=None)
+        M1 = puma.inertia_x(np.c_[q, q].T, representation=None)
 
         nt.assert_array_almost_equal(M0, Mr, decimal=4)
         nt.assert_array_almost_equal(M1[0, :, :], Mr, decimal=4)