From 1cfcbc1077c11583d4a09654a2bec17cac9a7d42 Mon Sep 17 00:00:00 2001
From: mcarfagno <22679370+mcarfagno@users.noreply.github.com>
Date: Thu, 12 Oct 2023 22:06:01 +0100
Subject: [PATCH] Update mpc_demo_nosim.py

---
 mpc_pybullet_demo/mpc_demo_nosim.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mpc_pybullet_demo/mpc_demo_nosim.py b/mpc_pybullet_demo/mpc_demo_nosim.py
index 0af8a06..80739e9 100755
--- a/mpc_pybullet_demo/mpc_demo_nosim.py
+++ b/mpc_pybullet_demo/mpc_demo_nosim.py
@@ -38,7 +38,7 @@ class MPCSim:
         self.K = int(params.T / params.DT)
         self.opt_u = np.zeros((params.M, self.K))
 
-        # Cost Matrices
+        # Weights for Cost Matrices
         Q = [20, 20, 10, 20]  # state error cost
         Qf = [30, 30, 30, 30]  # state final error cost
         R = [10, 10]  # input cost