From 55c39e3ad3ddca05f61f3b0ce1438c9f2ad43eaa Mon Sep 17 00:00:00 2001
From: Sylvain CALINON <sylvain.calinon@idiap.ch>
Date: Tue, 5 Nov 2024 10:26:51 +0100
Subject: [PATCH] relative weight on orientation added in octave example

---
 python/iLQR_manipulator3D.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/python/iLQR_manipulator3D.py b/python/iLQR_manipulator3D.py
index 7b9f640..6bd9e6f 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
 
 
-- 
GitLab