interia entries swapped in rbt.dynamics()

[jenskober]

Describe the bug The definition of the inertia vector in a DH joint etc. is I = [L_xx, L_yy, L_zz, L_xy, L_yz, L_xz] but when printing the robot dynamics the last two elements are swapped, i.e., [L_xx, L_yy, L_zz, L_xy, L_xz, L_yz] which I found very confusing - but this behavior might be intentional

Version information Installed via Anaconda (version 0.11.0)

To Reproduce

import roboticstoolbox as rtb
import numpy
puma = rtb.models.DH.Puma560()
puma.links[0].I = numpy.array([[0., 3., 5.],
                               [3., 1., 4.],
                               [5., 4., 2.]])
puma.dynamics()

┌──────┬───────┬─────────────────────────┬────────────────────────────────────────┬──────────┬───────────┬───────────────────┬───────┐
│  j   │   m   │            r            │                   I                    │    Jm    │     B     │        Tc         │   G   │
├──────┼───────┼─────────────────────────┼────────────────────────────────────────┼──────────┼───────────┼───────────────────┼───────┤
│link1 │  0    │  0,  0,  0              │  0,  1,  2,  3,  5,  4                 │  0.0002  │  0.00148  │  0.395, -0.435    │ -62.6 │
│link2 │  17.4 │ -0.364,  0.006,  0.228  │  0.13,  0.524,  0.539,  0,  0,  0      │  0.0002  │  0.000817 │  0.126, -0.071    │  108  │
│link3 │  4.8  │ -0.0203, -0.0141,  0.07 │  0.066,  0.086,  0.0125,  0,  0,  0    │  0.0002  │  0.00138  │  0.132, -0.105    │ -53.7 │
│link4 │  0.82 │  0,  0.019,  0          │  0.0018,  0.0013,  0.0018,  0,  0,  0  │  3.3e-05 │  7.12e-05 │  0.0112, -0.0169  │  76   │
│link5 │  0.34 │  0,  0,  0              │  0.0003,  0.0004,  0.0003,  0,  0,  0  │  3.3e-05 │  8.26e-05 │  0.00926, -0.0145 │  71.9 │
│link6 │  0.09 │  0,  0,  0.032          │  0.00015,  0.00015,  4e-05,  0,  0,  0 │  3.3e-05 │  3.67e-05 │  0.00396, -0.0105 │  76.7 │
└──────┴───────┴─────────────────────────┴────────────────────────────────────────┴──────────┴───────────┴───────────────────┴───────┘

Expected behavior I of link1 should be

0,  1,  2,  3,  4,  5

to be consistent with how inertia gets defined as vectors in DH joints etc.

Screenshots n/a

Environment (please complete the following information):

• Windows
• Python 3.8

Additional context I think I've found where it goes wrong link

is

format(dyn, fmt, np.r_[[I[k] for k in [0, 4, 8, 1, 2, 5]]])

but should be

format(dyn, fmt, np.r_[[I[k] for k in [0, 4, 8, 1, 5, 2]]])

and there is another instance of this wrong order here