Looking to reproduce a result from IROS 2022 competition paper

[SapanaChaudhary]

Hello!

I was hoping to reproduce Fig. 2 (below) from your IROS 2022 competition paper titled A Remote Sim2real Aerial Competition: Fostering Reproducibility and Solutions’ Diversity in Robotics Challenges.

I had a few questions regarding the figure above:

1. Which controller was used to produce the figure - traditional control vs RL?
2. I looked into the beta-iros-competition branch, but, could only see implementations for ["circle", "square", "figure8"] trajectories. Does this mean if I were to try to reproduce the result above using PPO, I would have to implement that trajectory in https://github.com/utiasDSL/safe-control-gym/blob/beta-iros-competition/safe_control_gym/envs/benchmark_env.py#L491?

Thank you, and looking forward to your reply!