I currently have a description of my 22 joint robot in "classic" DH parameters. However, I would like the "modified" parameters. Is this conversion as simple as shifting the $a$ and $alpha$ columns of the parameter table by one row?
As you can imagine, 22 joints is a lot, so I'd rather not re-derive all the parameters if I don't have to. (Actually, the classic parameters are pulled out of OpenRave with the command: