diff --git a/doc/rcfs.pdf b/doc/rcfs.pdf
index 8dc1b0611350433e08269f3528baaa55a1ff7b63..3549eb61368a91f8e27655b1186a4893bd7c65e8 100644
Binary files a/doc/rcfs.pdf and b/doc/rcfs.pdf differ
diff --git a/doc/rcfs.tex b/doc/rcfs.tex
index 70b287459f2ee71f003a1adc54aa279d8d7c8d56..a8af112019c488a5363655f4102bdff6679ab0ee 100644
--- a/doc/rcfs.tex
+++ b/doc/rcfs.tex
@@ -1,3 +1,4 @@
+%requires compilation with lualatex
 \documentclass[10pt,a4paper]{article} %twocolumn
 \usepackage{graphicx,amsmath,amssymb,bm,xcolor,soul,nicefrac,listings,algorithm2e,dsfont,caption,subcaption,wrapfig,sidecap} 
 \usepackage[hidelinks]{hyperref}
@@ -74,7 +75,7 @@ innerleftmargin=0.3em,innerrightmargin=0.3em,innertopmargin=0.3em,innerbottommar
 \newcommand{\tmin}{{\scriptscriptstyle\min}}
 \newcommand{\tmax}{{\scriptscriptstyle\max}}
 %\newcommand{\filename}[1]{{\raggedleft\colorbox{rr2}{{\color{white}\texttt{#1}}}\\[2mm]}}
-\newcommand{\filename}[1]{\colorbox{rr2}{\color{white}\texttt{#1}}}
+\newcommand{\filename}[1]{\colorbox{rr2}{\color{white}{\emojifont🦉}\texttt{#1}}}
 \newcommand{\new}{{\!\scriptscriptstyle\mathrm{new}}}
 
 %\usepackage{hyperref}
@@ -96,7 +97,11 @@ innerleftmargin=0.3em,innerrightmargin=0.3em,innertopmargin=0.3em,innerbottommar
 %    urlcolor=black
 %}
 
-\title{\huge A Math Cookbook for Robot Manipulation}
+\usepackage{fontspec}
+\newfontfamily\emojifont[Renderer=HarfBuzz]{NotoColorEmoji.ttf} %,SizeFeatures={Size=20}
+%-> requires compilation with lualatex
+
+\title{\huge {\emojifont🔢🧑‍🍳🦾} A Math Cookbook for Robot Manipulation}
 %Learning and Optimization in Robotics\\[4mm]\emph{Lecture notes}
 %A practical guide to learning and control problems in robotics\\solved with second-order optimization
 \author{Sylvain Calinon, Idiap Research Institute}
@@ -120,7 +125,7 @@ This cookbook presents several learning and optimal control recipes for robotics
 %\url{https://gitlab.idiap.ch/rli/robotics-codes-from-scratch}
 \end{center}%\\
 
-Each section in this report lists the corresponding source codes in Python and Matlab (ensuring full compatibility with GNU Octave), as well as in C++ and Julia for some of the principal examples, which can be accessed at:
+Each section in this document lists the corresponding source codes in Python and Matlab (ensuring full compatibility with GNU Octave), as well as in C++ and Julia for some of the principal examples, which can be accessed at:
 \begin{center}
 \url{https://gitlab.idiap.ch/rli/robotics-codes-from-scratch}
 \end{center}
@@ -2264,7 +2269,7 @@ In the next sections, we show examples of functions $\bm{f}(\bm{x})$ that can re
 
 \begin{figure}
 \centering
-\includegraphics[width=.7\columnwidth]{images/transformations01.jpg}
+\includegraphics[width=.5\columnwidth]{images/transformations01.jpg}
 \caption{\footnotesize
 Typical transformations involved in a manipulation task involving a robot, a vision system, a visual marker on the object, and a desired grasping location on the object.  
 }
diff --git a/matlab/IK_manipulator.m b/matlab/IK_manipulator.m
index 5f2492cf1cbdd2d723405ea88b6de58c5de87525..db97e5173f69e6cf5ebad9f13d72a26b8eb64f6b 100644
--- a/matlab/IK_manipulator.m
+++ b/matlab/IK_manipulator.m
@@ -6,7 +6,7 @@
 %% This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
 %% License: GPL-3.0-only
 
-function IK
+function IK_manipulator
 
 %% Parameters
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%