A905275
diff --git a/‎roboticstoolbox/robot/ETS.py
Lines changed: 28 additions & 13 deletions b/‎roboticstoolbox/robot/ETS.py
Lines changed: 28 additions & 13 deletions
@@ -523,7 +523,10 @@ def eval(self, q=None, unit='rad'):
 
         # optionally do symbolic simplification
 
-        return T.simplify()
+        if T.A.dtype == 'O':
+            T = T.simplify()
+        
+        return T
 
     def compile(self):
         """
@@ -658,22 +661,25 @@ def __str__(self, q=None):
 
             elif et.isrevolute:
                 if issymbol(et.eta):
-                    s = f"{et.axis}({et.eta})"
+                    s = f"{et.axis}({et.eta:.4g})"
                 else:
                     s = f"{et.axis}({et.eta * 180 / np.pi:.4g}°)"
 
             elif et.isprismatic:
-                s = f"{et.axis}({et.eta})"
+                s = f"{et.axis}({et.eta:.4g})"
 
             elif et.isconstant:
                 s = f"C{c}"
                 c += 1
 
             es.append(s)
 
-        return " * ".join(es)
+        return " \u2295 ".join(es)
 
     # redefine * operator to concatenate the internal lists
+    def __add__(self, rest):
+        self.__mul__(rest)
+
     def __mul__(self, rest):
         """
         Overloaded ``*`` operator
@@ -1663,19 +1669,28 @@ def jacobe(self, q=None, T=None):
     # print(e)
     # print(e.compile())
 
-    b = ETS2.r(flip=True) * ETS2.tx(1) * ETS2.r() * ETS2.tx(1)
+    # b = ETS2.r(flip=True) * ETS2.tx(1) * ETS2.r() * ETS2.tx(1)
+
+    # J = b.jacob0([0,0])
+    # print(J)
+
+    # J = b.jacobe([0,0])
+    # print(J)
+
+    # J = b.jacob0([1,0])
+    # print(J)
+
+    # J = b.jacobe([1,0])
+    # print(J)
 
-    J = b.jacob0([0,0])
-    print(J)
 
-    J = b.jacobe([0,0])
-    print(J)
+    from roboticstoolbox import ETS2 as ET
 
-    J = b.jacob0([1,0])
-    print(J)
+    a1 = 1
+    E = ET.r() * ET.tx(a1)
 
-    J = b.jacobe([1,0])
-    print(J)
+    v = E.eval( 30, unit='deg')
+    print(v)
 
     # b = ETS.ry(flip=True) * ETS.tx(1) * ETS.ry() * ETS.tx(1)