test: # Care only 62.5% less about and velocities and reference input…

… of the drone

                    # Reference Weighting matrices from the paper
                    # Q = diagcat(1, 1, 1, 0.6, 0.6, 1, 0, 0, 0, 0, 0, 0)
                    # R = diagcat(0.3, 0.3, 0.3, 0.8)

        Q = diagcat(1, 1, 1, 0.375, 0.375, 0.625, 0, 0, 0, 0, 0, 0)
        R = diagcat(0.1875, 0.1875, 0.1875, 0.5)

        # N DISCR LEVEL: 10 -> performs slower than 50%

Added additional test tracks folder in the file

gym_pybullet_drones/control/MPCCasADiControl.py

@@ -386,17 +386,23 @@ def __init__(self,
         R = diagcat(0, 0, 0, 0)
         # -> Test result: Drone completely goes off the rails and crazyflie flies crazily and fails'''
 
-        # Care only 62.5% less about and velocities and reference input of the drone
+        '''# Care only 62.5% less about and velocities and reference input of the drone
                     # Reference Weighting matrices from the paper
                     # Q = diagcat(1, 1, 1, 0.6, 0.6, 1, 0, 0, 0, 0, 0, 0)
                     # R = diagcat(0.3, 0.3, 0.3, 0.8)
 
         Q = diagcat(1, 1, 1, 0.375, 0.375, 0.625, 0, 0, 0, 0, 0, 0)
         R = diagcat(0.1875, 0.1875, 0.1875, 0.5)
+        
+        # DEFAULT_DISCR_LEVEL = 10 ->
+        # First track only
+        # COMPLETION TIME MEAN: 3.9583333333333335
+        # SUCCESS RATE: 1.0
+        # AVERAGE DEVIATION:  0.07690801583058962
+        # MAXIMUM DEVIATION: 0.14062837262156286 '''
 
 
-
-        '''# Care 2x less (or only 50%) about and velocities and reference input of the drone
+        # Care 2x less (or only 50%) about and velocities and reference input of the drone
                     # Reference Weighting matrices from the paper
                     # Q = diagcat(1, 1, 1, 0.6, 0.6, 1, 0, 0, 0, 0, 0, 0)
                     # R = diagcat(0.3, 0.3, 0.3, 0.8)
@@ -411,7 +417,7 @@ def __init__(self,
         # COMPLETION TIME MEAN: 4.119791666666666
         # SUCCESS RATE: 1.0
         # AVERAGE DEVIATION:  0.09995147199727226
-        # MAXIMUM DEVIATION: 0.2386860064898518'''
+        # MAXIMUM DEVIATION: 0.2386860064898518
 
         '''# Care (or only  42.5%) about and velocities and reference input of the drone
                             # Reference Weighting matrices from the paper

runnables/test_suite_eval/pid_CasADiMPC_20tracks_testsuite.py

@@ -50,9 +50,17 @@
 DEFAULT_DURATION_SEC = 10
 DEFAULT_OUTPUT_FOLDER = 'results'
 DEFAULT_COLAB = False
-DEFAULT_DISCR_LEVEL = 10
+DEFAULT_DISCR_LEVEL = 25
+# Original folder
 DEFAULT_EVAL_SET = "./eval-v0_n-ctrl-points-3_n-tracks-20_2024-02-11_22:18:28_46929077-0248-4c6e-b2b1-da2afb13b2e2"
 
+# Folder used for RL and the video
+#DEFAULT_EVAL_SET = "./eval-v0_n-ctrl-points-3_n-tracks-200_2024-02-12_12:21:14_3115f5a9-bd48-4b63-9194-5eda43e1329d"
+
+# Last track of this was used for the video
+#DEFAULT_EVAL_SET = "./eval-v0_n-ctrl-points-10_n-tracks-200_2024-02-12_15:01:53_bdee17ed-07ad-4e26-8e68-fa0a5ca1318c"
+
+
 from runnables.test_suite_eval.utils import compute_metrics_single
 
 def save_benchmark(benchmarks: Dict[str, float], file_path: str):