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mattia-gramugliamattia-gramuglia
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commented out some stuff
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+131
-122
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3 files changed

+131
-122
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‎.gitignore‎

Lines changed: 6 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -16,4 +16,10 @@
1616
# Ignore Flight-tests folder
1717
Flight-tests/
1818

19+
# Ignore __pycache__ folder
20+
__pycache__/
21+
22+
# Ignore all the csv files that start with DATA
23+
DATA*.csv
24+
1925

‎drone_bb_simulator.py‎

Lines changed: 123 additions & 120 deletions
Original file line numberDiff line numberDiff line change
@@ -4650,10 +4650,10 @@ def MRACwithBASELINE_SafetyMechanism(t, y):
46504650
DATA_vector[68:71] = Moment_adaptive
46514651
DATA_vector[71:74] = Moment_baseline_PI
46524652

4653-
DATA_vector[74:77] = omega_ref_dot
4654-
DATA_vector[77:80] = omega_cmd_dot
4655-
DATA_vector[80:83] = omega_cmd
4656-
DATA_vector[83:86] = angular_position_dot
4653+
# DATA_vector[74:77] = omega_ref_dot
4654+
# DATA_vector[77:80] = omega_cmd_dot
4655+
# DATA_vector[80:83] = omega_cmd
4656+
# DATA_vector[83:86] = angular_position_dot
46574657

46584658
DATA = np.append(DATA,np.resize(DATA_vector,(size_DATA,1)), axis=1)
46594659
###################################################################
@@ -4741,123 +4741,126 @@ def MRACwithBASELINE_SafetyMechanism(t, y):
47414741

47424742
# Print data to Console -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
47434743
print ('\nSimulation time: ', time_now)
4744-
4745-
print('omega_ref_dot: ', '%.4f'%omega_ref_dot[0], '%.4f'%omega_ref_dot[1], '%.4f'%omega_ref_dot[2])
4746-
print('omega_ref: ', '%.4f'%omega_ref[0], '%.4f'%omega_ref[1], '%.4f'%omega_ref[2])
4747-
print('omega_cmd_dot: ', '%.8f'%omega_cmd_dot[0],
4748-
'%.8f'%omega_cmd_dot[1],
4749-
'%.8f'%omega_cmd_dot[2])
4750-
print('omega_cmd: ', '%.4f'%omega_cmd[0], '%.4f'%omega_cmd[1], '%.4f'%omega_cmd[2])
4751-
# print('Jacobian_matrix_dot: ', Jacobian_matrix_dot)
4752-
# print('Jacobian_matrix: ', Jacobian_matrix)
4753-
print('integral_angular_error: ', '%.4f'%integral_angular_error[0], '%.4f'%integral_angular_error[1], '%.4f'%integral_angular_error[2])
4754-
print('angular_error: ', '%.4f'%angular_error[0], '%.4f'%angular_error[1], '%.4f'%angular_error[2])
4755-
print('angular_error_dot: ', '%.4f'%angular_error_dot[0], '%.4f'%angular_error_dot[1], '%.4f'%angular_error_dot[2])
4756-
4757-
4758-
# print('z - z_ref: ', pos_pixhawk_LOC_to_GLOB_NED.z - z_ref)
4759-
print('Z_onboard: ', '%.4f'%pos_pixhawk_LOC_to_GLOB_NED.z)
4760-
# print('(G_acc - controller_z_output)*mass_total: ', (G_acc + controller_z_output)*mass_total)
4761-
print('Thrust T: ', '%.4f'%T[0], '%.4f'%T[1], '%.4f'%T[2], '%.4f'%T[3], '%.4f'%T[4], '%.4f'%T[5], '%.4f'%T[6], '%.4f'%T[7])
4762-
print('Total thrust: ', '%4f'%np.sum(T))
4763-
print('Total torque around Z_onboard: ', '%.4f'%torque_total)
4764-
# print('Pixhawk Euler 321 angles [rad]: ', chvector_to_list(pixhawk_euler))
4765-
4766-
print('Pixhawk Euler 321 angles [deg]: ', pixhawk_euler_deg_trunc)
4767-
# print('Pixhawk LOCAL angular velocity [rad/s]: ', Wvel_pixhawk_LOC)
4768-
# print('Pixhawk GLOBAL angular velocity [rad/s]: ', Wvel_pixhawk_GLOB)
4769-
4770-
4771-
# print('Pixhawk Euler 321 angles OPPOSITE [deg]: ', pixhawk_euler_opposite_deg_trunc)
4772-
# print('Controllers U1 U2 U3 U4:', ' '.join([f'{u:.4f}' for u in U]))
4773-
print('Controllers U1 U2 U3 U4: ', '%.4f'%U[0], '%.4f'%U[1], '%.4f'%U[2], '%.4f'%U[3])
4774-
4775-
print('mu: ', '%.4f'%mu_x, '%.4f'%mu_y, '%.4f'%mu_z)
4776-
4777-
# print ('Roll reference [rad]: ', roll_ref)
4778-
# print ('Pitch reference [rad]: ', pitch_ref)
4779-
# print ('Yaw reference [rad]: ', yaw_ref)
4780-
4781-
print ('Roll reference [deg]: ', '%.4f'%np.rad2deg(roll_ref))
4782-
print ('Pitch reference [deg]: ', '%.4f'%np.rad2deg(pitch_ref))
4783-
print ('Yaw reference [deg]: ', '%.4f'%np.rad2deg(yaw_ref))
4784-
4785-
print ('mu_PD_baseline_tran [norm x y z]: ', '%.4f'%LA.norm(mu_PD_baseline_tran), '%.4f'%mu_PD_baseline_tran[0].item(), '%.4f'%mu_PD_baseline_tran[1].item(), '%.4f'%mu_PD_baseline_tran[2].item())
4786-
print ('mu_baseline_tran [norm x y z]: ', '%.4f'%LA.norm(mu_baseline_tran), '%.4f'%mu_baseline_tran[0].item(), '%.4f'%mu_baseline_tran[1].item(), '%.4f'%mu_baseline_tran[2].item())
4787-
print ('mu_adaptive_tran [norm x y z]: ', '%.4f'%LA.norm(mu_adaptive_tran), '%.4f'%mu_adaptive_tran[0].item(), '%.4f'%mu_adaptive_tran[1].item(), '%.4f'%mu_adaptive_tran[2].item())
4788-
print ('Moment_baseline_PI [norm x y z]: ', '%.4f'%LA.norm(Moment_baseline_PI), '%.4f'%Moment_baseline_PI[0].item(), '%.4f'%Moment_baseline_PI[1].item(), '%.4f'%Moment_baseline_PI[2].item())
4789-
print ('Moment_baseline [norm x y z]: ', '%.4f'%LA.norm(Moment_baseline), '%.4f'%Moment_baseline[0].item(), '%.4f'%Moment_baseline[1].item(), '%.4f'%Moment_baseline[2].item())
4790-
print ('Moment_adaptive [norm x y z]: ', '%.4f'%LA.norm(Moment_adaptive), '%.4f'%Moment_adaptive[0].item(), '%.4f'%Moment_adaptive[1].item(), '%.4f'%Moment_adaptive[2].item())
4791-
4792-
print('Time the simulation is taking: ', '%.4f'%simulation_time)
4793-
4794-
# print('Accumulated force: ', my_frame.Get_accumulated_force())
4795-
# print('Aerodynamic force: ', '%.4f'%aerodynamic_force[0].item(), '%.4f'%aerodynamic_force[1].item(), '%.4f'%aerodynamic_force[2].item())
4796-
4797-
#$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
4798-
4799-
# print('Ball 3 Euler 321 angles [deg]: ', ball3_euler_deg_trunc)
4800-
# print('Ball 3 Rotmat: ', chmatrix33_to_list(ball3_rotmat))
4801-
4802-
# print('omega: ', omega)
4803-
4804-
# print('Drone Frame Position: ', my_frame_pos)
4805-
# print('Pixhawk Coordinate: ', chcoordsys_to_list(coord_pixhawk_GLOB)[0],'\n') # '\n' prints in a new line
4806-
4807-
4808-
# print('Pixhawk LOCAL Position: ', chvector_to_list(pos_pixhawk_LOC))
4809-
print('Pixhawk GLOBAL Position: ', '%.4f'%chcoordsys_to_list(coord_pixhawk_GLOB)[0][0],
4810-
'%.4f'%chcoordsys_to_list(coord_pixhawk_GLOB)[0][1],
4811-
'%.4f'%chcoordsys_to_list(coord_pixhawk_GLOB)[0][2])
4812-
# print('Pixhawk GLOBAL Velocity: ', chcoordsys_to_list(coord_dt_pixhawk_GLOB)[0])
4813-
# print('Pixhawk LOCAL Velocity_T: ', chvector_to_list(vel_pixhawk_LOC_T))
4814-
# print('Pixhawk LOCAL Velocity: ', chvector_to_list(vel_pixhawk_LOC))
4815-
print('Pixhawk GLOBAL Velocity NORM: ', '%.4f'%LA.norm(np.asarray(chcoordsys_to_list(coord_dt_pixhawk_GLOB)[0])))
4816-
# print('Pixhawk LOCAL Velocity_T NORM: ', LA.norm(np.asarray(chvector_to_list(vel_pixhawk_LOC_T))))
4817-
# print('Pixhawk LOCAL Velocity NORM: ', LA.norm(np.asarray(chvector_to_list(vel_pixhawk_LOC))),'\n')
4818-
4819-
# print('Pixhawk Acceleration: ', chcoordsys_to_list(coord_dtdt_pixhawk_GLOB)[0])
4820-
# print('Pixhawk Angular Velocity: ', chvector_to_list(Wvel_pixhawk_GLOB))
4821-
# print('Pixhawk Angular Acceleration: ', chvector_to_list(Wacc_pixhawk_GLOB))
4822-
4823-
# print('Drone Frame Position: ', chvector_to_list(my_frame_pos))
4824-
4825-
# print('Ball_1 Position: ', my_ball1_pos)
4826-
# print('Ball_1 Position seen from the Box Ref. Sys.: ', my_ball1_pos_box)
4827-
4828-
# print('Ball_3 GLOBAL Velocity: ', chcoordsys_to_list(my_ball3.GetCoord_dt())[0])
4829-
# print('Ball_3 LOCAL Velocity: ', chvector_to_list(coord_dt_ball3_LOC),'\n')
4830-
# print('Ball_3 Quaternion: ', chcoordsys_to_list(my_ball3.GetCoord())[1],'\n')
4831-
# print('Ball_3 Euler 321 angles: ', chvector_to_list(euler321_fromQ_asChVector(my_ball3.GetCoord().rot)),'\n')
4832-
# print('Ball_3 Euler 123 angles: ', chvector_to_list(my_ball3.GetCoord().rot.Q_to_Euler123()),'\n')
4833-
4834-
# print('COG Position: ', chvector_to_list(COG_total))
4835-
4836-
4837-
# my_ball1_cfr = my_ball1.GetContactForce() # contact force applied to ball 1
4838-
# print('Contact Force Ball_1: ', my_ball1_cfr)
4839-
4840-
# my_ball2_cfr = my_ball2.GetContactForce()
4841-
# my_ball_cfr_list.append([time_now, chvector_to_list(my_ball1_cfr)[0], chvector_to_list(my_ball1_cfr)[1], chvector_to_list(my_ball1_cfr)[2],chvector_to_list(my_ball2_cfr)[0], chvector_to_list(my_ball2_cfr)[1], chvector_to_list(my_ball2_cfr)[2]])
4842-
# print('Contact Force Ball_2: ', my_ball2_cfr)
4843-
4844-
# my_box_cfr = my_box.GetContactForce()
4845-
# print('Contact Force Box: ', my_box_cfr)
4846-
4847-
# my_frame_cfr = my_frame.GetContactForce()
4848-
# print('Contact Force Drone Frame: ', my_box_cfr, '\n')
4849-
4850-
# my_ball1_ctr = my_ball1.GetContactTorque() # contact torque applied to ball 1
4851-
# print('Contact Torque Ball_1: ', my_ball1_ctr)
4852-
4853-
# my_ball2_ctr = my_ball2.GetContactTorque()
4854-
# print('Contact Torque Ball_2: ', my_ball2_ctr)
48554744

4856-
# my_box_ctr = my_box.GetContactTorque()
4857-
# print('Contact Torque Box: ', my_box_ctr)
4858-
4859-
# my_frame_ctr = my_frame.GetContactTorque()
4860-
# print('Contact Torque Drone Frame: ', my_box_ctr, '\n')
4745+
print_cosole_flag = False
4746+
if (print_cosole_flag):
4747+
4748+
# print('omega_ref_dot: ', '%.4f'%omega_ref_dot[0], '%.4f'%omega_ref_dot[1], '%.4f'%omega_ref_dot[2])
4749+
# print('omega_ref: ', '%.4f'%omega_ref[0], '%.4f'%omega_ref[1], '%.4f'%omega_ref[2])
4750+
# print('omega_cmd_dot: ', '%.8f'%omega_cmd_dot[0],
4751+
# '%.8f'%omega_cmd_dot[1],
4752+
# '%.8f'%omega_cmd_dot[2])
4753+
# print('omega_cmd: ', '%.4f'%omega_cmd[0], '%.4f'%omega_cmd[1], '%.4f'%omega_cmd[2])
4754+
# print('Jacobian_matrix_dot: ', Jacobian_matrix_dot)
4755+
# print('Jacobian_matrix: ', Jacobian_matrix)
4756+
# print('integral_angular_error: ', '%.4f'%integral_angular_error[0], '%.4f'%integral_angular_error[1], '%.4f'%integral_angular_error[2])
4757+
print('angular_error: ', '%.4f'%angular_error[0], '%.4f'%angular_error[1], '%.4f'%angular_error[2])
4758+
print('angular_error_dot: ', '%.4f'%angular_error_dot[0], '%.4f'%angular_error_dot[1], '%.4f'%angular_error_dot[2])
4759+
4760+
4761+
# print('z - z_ref: ', pos_pixhawk_LOC_to_GLOB_NED.z - z_ref)
4762+
print('Z_onboard: ', '%.4f'%pos_pixhawk_LOC_to_GLOB_NED.z)
4763+
# print('(G_acc - controller_z_output)*mass_total: ', (G_acc + controller_z_output)*mass_total)
4764+
print('Thrust T: ', '%.4f'%T[0], '%.4f'%T[1], '%.4f'%T[2], '%.4f'%T[3], '%.4f'%T[4], '%.4f'%T[5], '%.4f'%T[6], '%.4f'%T[7])
4765+
print('Total thrust: ', '%4f'%np.sum(T))
4766+
print('Total torque around Z_onboard: ', '%.4f'%torque_total)
4767+
# print('Pixhawk Euler 321 angles [rad]: ', chvector_to_list(pixhawk_euler))
4768+
4769+
print('Pixhawk Euler 321 angles [deg]: ', pixhawk_euler_deg_trunc)
4770+
# print('Pixhawk LOCAL angular velocity [rad/s]: ', Wvel_pixhawk_LOC)
4771+
# print('Pixhawk GLOBAL angular velocity [rad/s]: ', Wvel_pixhawk_GLOB)
4772+
4773+
4774+
# print('Pixhawk Euler 321 angles OPPOSITE [deg]: ', pixhawk_euler_opposite_deg_trunc)
4775+
# print('Controllers U1 U2 U3 U4:', ' '.join([f'{u:.4f}' for u in U]))
4776+
print('Controllers U1 U2 U3 U4: ', '%.4f'%U[0], '%.4f'%U[1], '%.4f'%U[2], '%.4f'%U[3])
4777+
4778+
print('mu: ', '%.4f'%mu_x, '%.4f'%mu_y, '%.4f'%mu_z)
4779+
4780+
# print ('Roll reference [rad]: ', roll_ref)
4781+
# print ('Pitch reference [rad]: ', pitch_ref)
4782+
# print ('Yaw reference [rad]: ', yaw_ref)
4783+
4784+
print ('Roll reference [deg]: ', '%.4f'%np.rad2deg(roll_ref))
4785+
print ('Pitch reference [deg]: ', '%.4f'%np.rad2deg(pitch_ref))
4786+
print ('Yaw reference [deg]: ', '%.4f'%np.rad2deg(yaw_ref))
4787+
4788+
print ('mu_PD_baseline_tran [norm x y z]: ', '%.4f'%LA.norm(mu_PD_baseline_tran), '%.4f'%mu_PD_baseline_tran[0].item(), '%.4f'%mu_PD_baseline_tran[1].item(), '%.4f'%mu_PD_baseline_tran[2].item())
4789+
print ('mu_baseline_tran [norm x y z]: ', '%.4f'%LA.norm(mu_baseline_tran), '%.4f'%mu_baseline_tran[0].item(), '%.4f'%mu_baseline_tran[1].item(), '%.4f'%mu_baseline_tran[2].item())
4790+
print ('mu_adaptive_tran [norm x y z]: ', '%.4f'%LA.norm(mu_adaptive_tran), '%.4f'%mu_adaptive_tran[0].item(), '%.4f'%mu_adaptive_tran[1].item(), '%.4f'%mu_adaptive_tran[2].item())
4791+
print ('Moment_baseline_PI [norm x y z]: ', '%.4f'%LA.norm(Moment_baseline_PI), '%.4f'%Moment_baseline_PI[0].item(), '%.4f'%Moment_baseline_PI[1].item(), '%.4f'%Moment_baseline_PI[2].item())
4792+
print ('Moment_baseline [norm x y z]: ', '%.4f'%LA.norm(Moment_baseline), '%.4f'%Moment_baseline[0].item(), '%.4f'%Moment_baseline[1].item(), '%.4f'%Moment_baseline[2].item())
4793+
print ('Moment_adaptive [norm x y z]: ', '%.4f'%LA.norm(Moment_adaptive), '%.4f'%Moment_adaptive[0].item(), '%.4f'%Moment_adaptive[1].item(), '%.4f'%Moment_adaptive[2].item())
4794+
4795+
print('Time the simulation is taking: ', '%.4f'%simulation_time)
4796+
4797+
# print('Accumulated force: ', my_frame.Get_accumulated_force())
4798+
# print('Aerodynamic force: ', '%.4f'%aerodynamic_force[0].item(), '%.4f'%aerodynamic_force[1].item(), '%.4f'%aerodynamic_force[2].item())
4799+
4800+
#$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
4801+
4802+
# print('Ball 3 Euler 321 angles [deg]: ', ball3_euler_deg_trunc)
4803+
# print('Ball 3 Rotmat: ', chmatrix33_to_list(ball3_rotmat))
4804+
4805+
# print('omega: ', omega)
4806+
4807+
# print('Drone Frame Position: ', my_frame_pos)
4808+
# print('Pixhawk Coordinate: ', chcoordsys_to_list(coord_pixhawk_GLOB)[0],'\n') # '\n' prints in a new line
4809+
4810+
4811+
# print('Pixhawk LOCAL Position: ', chvector_to_list(pos_pixhawk_LOC))
4812+
print('Pixhawk GLOBAL Position: ', '%.4f'%chcoordsys_to_list(coord_pixhawk_GLOB)[0][0],
4813+
'%.4f'%chcoordsys_to_list(coord_pixhawk_GLOB)[0][1],
4814+
'%.4f'%chcoordsys_to_list(coord_pixhawk_GLOB)[0][2])
4815+
# print('Pixhawk GLOBAL Velocity: ', chcoordsys_to_list(coord_dt_pixhawk_GLOB)[0])
4816+
# print('Pixhawk LOCAL Velocity_T: ', chvector_to_list(vel_pixhawk_LOC_T))
4817+
# print('Pixhawk LOCAL Velocity: ', chvector_to_list(vel_pixhawk_LOC))
4818+
print('Pixhawk GLOBAL Velocity NORM: ', '%.4f'%LA.norm(np.asarray(chcoordsys_to_list(coord_dt_pixhawk_GLOB)[0])))
4819+
# print('Pixhawk LOCAL Velocity_T NORM: ', LA.norm(np.asarray(chvector_to_list(vel_pixhawk_LOC_T))))
4820+
# print('Pixhawk LOCAL Velocity NORM: ', LA.norm(np.asarray(chvector_to_list(vel_pixhawk_LOC))),'\n')
4821+
4822+
# print('Pixhawk Acceleration: ', chcoordsys_to_list(coord_dtdt_pixhawk_GLOB)[0])
4823+
# print('Pixhawk Angular Velocity: ', chvector_to_list(Wvel_pixhawk_GLOB))
4824+
# print('Pixhawk Angular Acceleration: ', chvector_to_list(Wacc_pixhawk_GLOB))
4825+
4826+
# print('Drone Frame Position: ', chvector_to_list(my_frame_pos))
4827+
4828+
# print('Ball_1 Position: ', my_ball1_pos)
4829+
# print('Ball_1 Position seen from the Box Ref. Sys.: ', my_ball1_pos_box)
4830+
4831+
# print('Ball_3 GLOBAL Velocity: ', chcoordsys_to_list(my_ball3.GetCoord_dt())[0])
4832+
# print('Ball_3 LOCAL Velocity: ', chvector_to_list(coord_dt_ball3_LOC),'\n')
4833+
# print('Ball_3 Quaternion: ', chcoordsys_to_list(my_ball3.GetCoord())[1],'\n')
4834+
# print('Ball_3 Euler 321 angles: ', chvector_to_list(euler321_fromQ_asChVector(my_ball3.GetCoord().rot)),'\n')
4835+
# print('Ball_3 Euler 123 angles: ', chvector_to_list(my_ball3.GetCoord().rot.Q_to_Euler123()),'\n')
4836+
4837+
# print('COG Position: ', chvector_to_list(COG_total))
4838+
4839+
4840+
# my_ball1_cfr = my_ball1.GetContactForce() # contact force applied to ball 1
4841+
# print('Contact Force Ball_1: ', my_ball1_cfr)
4842+
4843+
# my_ball2_cfr = my_ball2.GetContactForce()
4844+
# my_ball_cfr_list.append([time_now, chvector_to_list(my_ball1_cfr)[0], chvector_to_list(my_ball1_cfr)[1], chvector_to_list(my_ball1_cfr)[2],chvector_to_list(my_ball2_cfr)[0], chvector_to_list(my_ball2_cfr)[1], chvector_to_list(my_ball2_cfr)[2]])
4845+
# print('Contact Force Ball_2: ', my_ball2_cfr)
4846+
4847+
# my_box_cfr = my_box.GetContactForce()
4848+
# print('Contact Force Box: ', my_box_cfr)
4849+
4850+
# my_frame_cfr = my_frame.GetContactForce()
4851+
# print('Contact Force Drone Frame: ', my_box_cfr, '\n')
4852+
4853+
# my_ball1_ctr = my_ball1.GetContactTorque() # contact torque applied to ball 1
4854+
# print('Contact Torque Ball_1: ', my_ball1_ctr)
4855+
4856+
# my_ball2_ctr = my_ball2.GetContactTorque()
4857+
# print('Contact Torque Ball_2: ', my_ball2_ctr)
4858+
4859+
# my_box_ctr = my_box.GetContactTorque()
4860+
# print('Contact Torque Box: ', my_box_ctr)
4861+
4862+
# my_frame_ctr = my_frame.GetContactTorque()
4863+
# print('Contact Torque Drone Frame: ', my_box_ctr, '\n')
48614864
if Wrapper_execution == True:
48624865
DATA = DATA.T
48634866
with open(csv_file_path, mode='a', newline='') as csv_file_wrapper:

‎loop.py‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -39,7 +39,7 @@
3939

4040
# controller_type = 'RobustMRACwithBASELINE'
4141

42-
# controller_type = 'RobustTwoLayerMRACwithBASELINE'
42+
controller_type = 'RobustTwoLayerMRACwithBASELINE'
4343

4444
# controller_type = 'HybridMRACwithBASELINE'
4545

@@ -53,7 +53,7 @@
5353

5454
# controller_type = 'FunnelTwoLayerMRACwithBASELINE'
5555

56-
controller_type = 'MRACwithBASELINE_SafetyMechanism'
56+
# controller_type = 'MRACwithBASELINE_SafetyMechanism'
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# ----------------------------------------------------------------
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# %%%%%%%%%%%%%%%%%%%%%%

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