# Variables Declaration
cu = C[:,0:1]
cd = C[:,1:2]
cl = C[:,2:3]
cr = C[:,3:4]
gamma = 0.99

# Matrix creation
J = np.zeros((6,1))

# Initialize variables
err = 1
i = 0

while err > 1e-8:
    Qu = cu + gamma * U.dot(J)
    Qd = cd + gamma * D.dot(J)
    Ql = cl + gamma * L.dot(J)
    Qr = cr + gamma * R.dot(J)
    Jnew = np.min((Qu, Qd, Ql, Qr), axis=0)
    err = np.linalg.norm(Jnew - J)
    i+=1
    J = Jnew

print(J)
print(i)