diff --git a/python/iLQR_manipulator3D.py b/python/iLQR_manipulator3D.py
index 7b9f640bb43d70ab7da41609a7b5f12bb30ab6f8..6bd9e6fb525331e8f25dc66ab2b4c9289c09a4b9 100644
--- a/python/iLQR_manipulator3D.py
+++ b/python/iLQR_manipulator3D.py
@@ -239,7 +239,7 @@ for i in range(param.nbIter):
 
 	u = u + du * alpha
 
-	if np.linalg.norm(du * alpha) < 1E-2 or cost < 1.5e-3:
+	if np.linalg.norm(du * alpha) < 1E-2:  #or cost < 1.5e-3:
 		break # Stop iLQR iterations when solution is reached