From c994e622aa97998458d32f424c0099f10ba88683 Mon Sep 17 00:00:00 2001
From: Sylvain CALINON <sylvain.calinon@idiap.ch>
Date: Thu, 31 Oct 2024 14:56:07 +0100
Subject: [PATCH] commmit before merge

---
 matlab/iLQR_manipulator3D.m | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/matlab/iLQR_manipulator3D.m b/matlab/iLQR_manipulator3D.m
index 175e633..7a0e1d1 100644
--- a/matlab/iLQR_manipulator3D.m
+++ b/matlab/iLQR_manipulator3D.m
@@ -33,8 +33,9 @@ param.dh.d = [0.333, 0, 0.316, 0, 0.384, 0, 0, 0.107]; %Offset along previous z
 param.dh.r = [0, 0, 0, 0.0825, -0.0825, 0, 0.088, 0]; %Length of the common normal 
 
 %Weight matrices for iLQR cost
-Q = speye((param.nbVarF-1) * param.nbPoints) * param.q; %Precision matrix
+%Q = speye((param.nbVarF-1) * param.nbPoints) * param.q; %Precision matrix
 %Q = kron(eye(param.nbPoints), diag([0, 0, 0, 1E0, 1E0, 1E0])); %Precision matrix (by removing position constraint)
+Q = kron(eye(param.nbPoints), diag([1, 1, 1, 1, 1, 0])); %Precision matrix (by removing orientation constraint on 3rd axis)
 
 R = speye(param.nbVarU * (param.nbData-1)) * param.r; %Control weight matrix (at trajectory level)
 
-- 
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