mpc_python_learn/mpc_pybullet_demo/mpc_config.py

class Params():
    def __init__(self):
        self.N = 4 #number of state variables
        self.M = 2 #number of control variables
        self.T = 10 #Prediction Horizon
        self.dt = 0.25 #discretization step
        self.path_tick = 0.05