diff --git a/docs/source/tutorials_general/racing.cpp b/docs/source/tutorials_general/racing.cpp
index dc3e64ff37..ef634db2e2 100644
--- a/docs/source/tutorials_general/racing.cpp
+++ b/docs/source/tutorials_general/racing.cpp
@@ -82,8 +82,8 @@ int main(int argc, char *argv[]) {
   std::size_t num_waypoints = way_points.size();
   Eigen::VectorXd segment_times(num_waypoints);
   segment_times << 10.0, 10.0, 10.0, 10.0;
-  Eigen::VectorXd minimization_weights(num_waypoints);
-  minimization_weights << 1.0, 1.0, 1.0, 1.0;
+  Eigen::VectorXd minimization_weights(5);
+  minimization_weights << 0.0, 1.0, 1.0, 1.0, 1.0;
 
   polynomial_trajectories::PolynomialTrajectorySettings trajectory_settings =
     polynomial_trajectories::PolynomialTrajectorySettings(
diff --git a/docs/source/tutorials_general/racing.rst b/docs/source/tutorials_general/racing.rst
index 7cc806af4d..61780c0d7b 100644
--- a/docs/source/tutorials_general/racing.rst
+++ b/docs/source/tutorials_general/racing.rst
@@ -23,8 +23,8 @@ Generate trajectory
   std::size_t num_waypoints = way_points.size();
   Eigen::VectorXd segment_times(num_waypoints);
   segment_times << 10.0, 10.0, 10.0, 10.0;
-  Eigen::VectorXd minimization_weights(num_waypoints);
-  minimization_weights << 1.0, 1.0, 1.0, 1.0;
+  Eigen::VectorXd minimization_weights(5);
+  minimization_weights << 0.0, 1.0, 1.0, 1.0, 1.0;
 
   polynomial_trajectories::PolynomialTrajectorySettings trajectory_settings =
     polynomial_trajectories::PolynomialTrajectorySettings(
diff --git a/flightros/src/racing/racing.cpp b/flightros/src/racing/racing.cpp
index e2873b54c4..5bc6074ddc 100644
--- a/flightros/src/racing/racing.cpp
+++ b/flightros/src/racing/racing.cpp
@@ -69,8 +69,8 @@ int main(int argc, char *argv[]) {
   std::size_t num_waypoints = way_points.size();
   Eigen::VectorXd segment_times(num_waypoints);
   segment_times << 10.0, 10.0, 10.0, 10.0;
-  Eigen::VectorXd minimization_weights(num_waypoints);
-  minimization_weights << 1.0, 1.0, 1.0, 1.0;
+  Eigen::VectorXd minimization_weights(5);
+  minimization_weights << 0.0, 1.0, 1.0, 1.0, 1.0;
 
   polynomial_trajectories::PolynomialTrajectorySettings trajectory_settings =
     polynomial_trajectories::PolynomialTrajectorySettings(