From a25be4a5c00c3ab1a3e148c8f31e96f089f828d6 Mon Sep 17 00:00:00 2001
From: Isaac <112195326+Isaac-F24@users.noreply.github.com>
Date: Sat, 3 Feb 2024 15:05:27 -0500
Subject: [PATCH] experimental disable obstacle in MPC

---
 lunabot_config/config/mpc.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/lunabot_config/config/mpc.yml b/lunabot_config/config/mpc.yml
index cd1899e1..cf3a27b1 100644
--- a/lunabot_config/config/mpc.yml
+++ b/lunabot_config/config/mpc.yml
@@ -4,7 +4,7 @@ iterations: 10
 w_linear: 1.0
 w_angular: 5.0
 w_waypoint: 20.0
-w_occupied: 100.0
+w_occupied: 0.0
 horizon_length: 10
 frequency: 30
 min_distance_threshold: 0.5