I had correct code within the YOUR CODE block, however it was graded as incorrect. I copied this block of code out, reset the question, and pasted it back, and it passed, although now my mark is lower. Frustrating!

The only thing I changed was uncommenting the different scenario lines as required to evaluate different measurements, as shown in the video. In the end, I think I put a comment back with different content within the comment. Should this matter?

Originally:

# measurements = [[1., 4.], [6., 0.], [11., -4.], [16., -8.]]
# initial_xy = [-4., 8.]

When I submitted it (missing leading white space):

#measurements = [[1., 4.], [6., 0.], [11., -4.], [16., -8.]]
#initial_xy = [-4., 8.]

The observed results were identical to those shown by Sebastian during the explanatory video.

Could the homework evaluator please be changed to pull my block out, and run it within the pristine question context?

Here's my code block:

P = matrix([[0., 0., 0., 0.], 
            [0., 0., 0., 0.],
            [0., 0., 1000., 0.],
            [0., 0., 0., 1000.]]) # initial uncertainty
F = matrix([[1., 0., dt, 0.], 
            [0., 1., 0., dt],
            [0., 0., 1., 0.],
            [0., 0., 0., 1.]]) # next state function
H = matrix([[1., 0., 0., 0.],
            [0., 1., 0., 0.]]) # measurement function
R = matrix([[dt, 0.],
            [0., dt]]) # measurement uncertainty
I = matrix([[1., 0., 0., 0.],
            [0., 1., 0., 0.],
            [0., 0., 1., 0.],
            [0., 0., 0., 1.]]) # identity matrix