I swear I'm not the only one who ever answers these posts - you must be getting tired of me by now.
Okay, so what you are doing wrong is using the field picker when you should not be. Here's what your formula shoud look like (with edit XPath checked):
concat("CopyRichText /dsnamesrc=CommentList /xpathsrc=/dfs:myFields/dfs:dataFields/d:SharePointListItem_RW/d:Comment[../d:Category ='", my:txtCategory1, "'] /xpathdest=/my:myFields/my:rtxtComment1")
The thing is, what the Command cares about is the text value you are setting it to. You can set another field to the same value you are setting Command to (or set your form to Filler and use a message box with a formula) to help you see what you are doing a bit better, the concat formulas have a bit of a learning curve.
What I've done is change your formula so that inside the square bracket a relative path is used to get to Category (../d:Catagory) from d:Comment. Then, after the equal sign, before the regular quote, I added a single quote - same on the other side. What you want is a concat expression that evaluates to something like:
CopyRichText /dsnamesrc=CommentList /xpathsrc=/dfs:myFields/dfs:dataFields/d:SharePointListItem_RW/d:Comment[../d:Category ='SomeValue'] /xpathdest=/my:myFields/my:rtxtComment1
Does that make sense?