Fall through error in the binary operator for BasePoseMatrix:

https://github.com/bdaiinstitute/spatialmath-python/blob/1b89c49395a21b5241e2f0a233e69394f3bc27b1/spatialmath/baseposematrix.py#L1632C7-L1632C7

If you want to compare the rotation of an SE3 to an SO3, it returns none as opposed to throwing an error or returning a valid value. This should probably raise an error as opposed to returning None.

import numpy as np
from spatialmath import SE3, SO3

T0 = SE3()
print(T0.angdist(SO3()))

Could be fixed with closing else in BasePoseMatrix._op2

    else:
        raise ValueError(f'Invalid type ({right.__class__}) for binary operation with {left.__class__}')