diff --git a/python/IK_manipulator3D.py b/python/IK_manipulator3D.py
index e31880c72689ac0b55e5646cfae6c5c5a22157be..ed85b97e0fce91279f06c16592633c1e989bc48a 100644
--- a/python/IK_manipulator3D.py
+++ b/python/IK_manipulator3D.py
@@ -126,7 +126,7 @@ def R2q(R):
 	]) / 3.0
 
 	e_val, e_vec = np.linalg.eig(K)
-	q = np.array([e_vec[3, np.argmax(e_val)], *e_vec[0:3, np.argmax(e_val)]]) # for quaternions as [w,x,y,z]
+	q = np.real([e_vec[3, np.argmax(e_val)], *e_vec[0:3, np.argmax(e_val)]]) # for quaternions as [w,x,y,z]
 	return q
 
 # Plot coordinate system
diff --git a/python/iLQR_manipulator3D.py b/python/iLQR_manipulator3D.py
index 1f34ddf09abda2097038ac7c18917008edbf0a52..899ccca2def20f7c57c2cda2af3818ec91694df9 100644
--- a/python/iLQR_manipulator3D.py
+++ b/python/iLQR_manipulator3D.py
@@ -122,7 +122,7 @@ def R2q(R):
 	]) / 3.0
 
 	e_val, e_vec = np.linalg.eig(K)
-	q = np.array([e_vec[3, np.argmax(e_val)], *e_vec[0:3, np.argmax(e_val)]]) # for quaternions as [w,x,y,z]
+	q = np.real([e_vec[3, np.argmax(e_val)], *e_vec[0:3, np.argmax(e_val)]]) # for quaternions as [w,x,y,z]
 	return q
 
 # Plot coordinate system