There is a bug when plotting a symbolic value which is a constant, in this case 0. You can see the difference where g(t) = [t+3/2*sin(2t), 4*cos(t), a*cos(2t)] will plot as you do with a nonzero a, but will have the same error when a=0. I’ll open an issue and hopefully address soon. Until then you could use some other value, say 3, instead of pi…
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