Fixed corner cases for ProjectToSO3(), and added a reference in README.

README.md

@@ -23,6 +23,7 @@ Some unofficial versions in other languages are being developed:
 
 Some libraries built on ours:
 * [KinematicsFromDescriptionTool](https://github.com/Interbotix/kinematics_from_description), which calculates the kinematics input parameters from a robot's URDF or robot_description parameter using ROS and Python3.
+* [mr_urdf_loader](https://github.com/tjdalsckd/mr_urdf_loader), which generates `M`, `Slist`, `Blist`, `Mlist` and `Glist` parameters for kinematics and dynamics. It also provides UR5 simulation using `PyBullet`.
 * [tf_rbdl](https://github.com/junhyeokahn/tf_rbdl#tf_rbdl), which refactors the Python version using the package `tensorflow`.
 
 Any contribution is welcomed but the maintenance team for this library here doesn't vouch for the reliability of those projects.

packages/MATLAB/mr/ProjectToSO3.m

@@ -23,6 +23,6 @@ function R = ProjectToSO3(mat)
 R = U * V';
 if det(R) < 0
     % In this case the result may be far from mat.
-    R = [R(:, 1: 2); -R(:, 3)];
+    R = [R(:, 1: 2), -R(:, 3)];
 end
 end

packages/Python/modern_robotics/core.py

@@ -426,7 +426,7 @@ def ProjectToSO3(mat):
     R = np.dot(U, Vh)
     if np.linalg.det(R) < 0:
     # In this case the result may be far from mat.
-        R[:, s[2, 2]] = -R[:, s[2, 2]]
+        R[:, 2] = -R[:, 2]
     return R
 
 def ProjectToSE3(mat):