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 *.pyc
 *.DS_Store
-/notebook/.ipynb_checkpoints
-.ipynb_checkpoints
+*.ipynb_checkpoints
diff --git a/.ipynb_checkpoints/README-checkpoint.md b/.ipynb_checkpoints/README-checkpoint.md
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-# mpc_python
-
-Python implementation of a mpc controller for path tracking using **[CVXPY](https://www.cvxpy.org/)**.
-
-## About
-
-The MPC is a model predictive path following controller which does follow a predefined reference by solving an optimization problem. The resulting optimization problem is shown in the following equation:
-
-![](img/quicklatex_equation.png)
-
-The terns of the cost function are the sum of the **reference tracking error**, **heading effort** and **actuaction rate of change**.
-
-Where R,P,Q are the cost matrices used to tune the response.
-
-The vehicle model is described by the bicycle kinematics model using the state space matrices A and B:
-
-![](img/quicklatex2.png)
-
-The state variables **(x)** of the model are:
-
-* **x** coordinate of the robot
-* **y** coordinate of the robot
-* **v** velocuty of the robot
-* **theta** heading of the robot
-
-The inputs **(u)** of the model are:
-
-* **a** linear acceleration of the robot
-* **delta** steering angle of the robot
-
-## Demo
-
-The MPC implementation is tested using **[bullet](https://pybullet.org/wordpress/)** physics simulator. Racing car model is from: *https://github.com/erwincoumans/pybullet_robots*.
-
-![](img/f10.png)
-
-Results:
-
-![](img/demo.gif)
-
-To run the pybullet demo:
-
-```bash
-python3 mpc_demo/mpc_demo_pybullet.py
-```
-
-To run the simulation-less demo:
-
-```bash
-python3 mpc_demo/mpc_demo_pybullet.py
-```
-
-## Requirements
-
-```bash
-pip3 install --user --requirement requirements.txt
-```
-
-## References
-* [mpc paper](https://borrelli.me.berkeley.edu/pdfpub/IV_KinematicMPC_jason.pdf)
-* [pythonrobotics](https://github.com/AtsushiSakai/PythonRobotics/)
-* [pybullet](https://pybullet.org/wordpress/)
\ No newline at end of file
diff --git a/notebooks/MPC_racecar_crosstrack.ipynb b/notebooks/MPC_racecar_crosstrack.ipynb
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@@ -1203,9 +1203,9 @@
  ],
  "metadata": {
   "kernelspec": {
-   "display_name": "Python [conda env:.conda-jupyter] *",
+   "display_name": "Python 3",
    "language": "python",
-   "name": "conda-env-.conda-jupyter-py"
+   "name": "python3"
   },
   "language_info": {
    "codemirror_mode": {
@@ -1217,7 +1217,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.8.5"
+   "version": "3.7.6"
   }
  },
  "nbformat": 4,