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upadte Matrix6Log 

somehow, in certain cases, I was unable to generate a trajectory without getting an error that the operator / can't work between list (omgmat) and float... so changing that fixed it for me.
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Olivier Martin 2018-12-07 23:12:35 -05:00 committed by GitHub
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packages/Python/modern_robotics/core.py
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@ -401,7 +401,7 @@ def MatrixLog6(T):
elif acosinput < -1: elif acosinput < -1:
acosinput = -1 acosinput = -1
theta = np.arccos(acosinput) theta = np.arccos(acosinput)
omgmat = MatrixLog3(R) omgmat = np.array(MatrixLog3(R), dtype=np.float64)
return np.r_[np.c_[omgmat, return np.r_[np.c_[omgmat,
np.dot(np.eye(3) - omgmat / 2.0 \ np.dot(np.eye(3) - omgmat / 2.0 \
+ (1.0 / theta - 1.0 / np.tan(theta / 2.0) / 2) \ + (1.0 / theta - 1.0 / np.tan(theta / 2.0) / 2) \