remove determinism experiments

airo-ugent · Mar 19, 2024 · e798c8f · e798c8f
1 parent a9db589
commit e798c8f
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diff --git a/airo_planner/ompl/utilities.py b/airo_planner/ompl/utilities.py
@@ -46,13 +46,6 @@ def bounds_to_ompl(joint_bounds: JointBoundsType) -> ob.RealVectorBounds:
     return bounds
 
 
-def allocDeterministicStateSampler(space: ob.StateSpace) -> ob.StateSampler:
-    from loguru import logger
-
-    logger.info("Allocating RealVectorDeterministicStateSampler")
-    return ob.RealVectorDeterministicStateSampler(space)
-
-
 def create_simple_setup(
     is_state_valid_fn: JointConfigurationCheckerType, joint_bounds: JointBoundsType
 ) -> og.SimpleSetup:
@@ -72,9 +65,6 @@ def create_simple_setup(
 
     is_state_valid_ompl = function_to_ompl(is_state_valid_fn, degrees_of_freedom)
 
-    space.setStateSamplerAllocator(ob.StateSamplerAllocator(allocDeterministicStateSampler))
-    # space.allocStateSampler()
-
     # Configure the SimpleSetup object
     simple_setup = og.SimpleSetup(space)
     simple_setup.setStateValidityChecker(ob.StateValidityCheckerFn(is_state_valid_ompl))

diff --git a/notebooks/01_planning_to_joint_configurations.ipynb b/notebooks/01_planning_to_joint_configurations.ipynb
@@ -122,15 +122,6 @@
     "animate_joint_trajectory(scene.meshcat, scene.robot_diagram, scene.arm_index, trajectory)"
    ]
   },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "# planner._simple_setup.getSpaceInformation().ValidStateSamplerAllocator()"
-   ]
-  },
   {
    "cell_type": "code",
    "execution_count": null,

diff --git a/notebooks/02_planning_to_tcp_poses.ipynb b/notebooks/02_planning_to_tcp_poses.ipynb
@@ -291,105 +291,6 @@
     "print(f\"\\nLength of path that planner returned: {calculate_joint_path_length(path):.2f}\")"
    ]
   },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "valid_sampler = planner._simple_setup.getSpaceInformation().allocValidStateSampler()\n",
-    "valid_sampler"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "from ompl import base as ob\n",
-    "from ompl import util as ou\n",
-    "from loguru import logger\n",
-    "\n",
-    "class DeterministicValidStateSampler(ob.ValidStateSampler):\n",
-    "    def __init__(self, space_information: ob.SpaceInformation, random_seed: int = 1):\n",
-    "        logger.info(\"Creating DeterministicValidStateSampler\")\n",
-    "        super(DeterministicValidStateSampler, self).__init__(space_information)\n",
-    "        self.rng_ = ou.RNG(random_seed)\n",
-    "\n",
-    "\n",
-    "def allocDeterministicValidStateSampler(space_information: ob.SpaceInformation) -> ob.ValidStateSampler:\n",
-    "    logger.info(\"Allocating DeterministicValidStateSampler\")\n",
-    "    return DeterministicValidStateSampler(space_information)\n",
-    "\n",
-    "\n",
-    "space_information = planner._simple_setup.getSpaceInformation()\n",
-    "DeterministicValidStateSampler(space_information)\n",
-    "allocDeterministicValidStateSampler(space_information)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "ob.RealVectorDeterministicStateSampler(planner._simple_setup.getStateSpace())"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "# def allocDeterministicStateSampler(space: ob.StateSpace) -> ob.StateSampler:\n",
-    "#     return ob.RealVectorDeterministicStateSampler(space)\n",
-    "\n",
-    "# planner._simple_setup.getStateSpace().setStateSamplerAllocator(ob.StateSamplerAllocator(allocDeterministicStateSampler))"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "from airo_planner.ompl.utilities import create_simple_setup\n",
-    "import ompl.geometric as og\n",
-    "\n",
-    "planner._simple_setup = create_simple_setup(planner.is_state_valid_fn, planner.joint_bounds)\n",
-    "# space_information = planner._simple_setup.getSpaceInformation()\n",
-    "# space_information.clearValidStateSamplerAllocator()\n",
-    "# space_information.setValidStateSamplerAllocator(ob.ValidStateSamplerAllocator(allocDeterministicValidStateSampler))\n",
-    "# space_information.allocValidStateSampler()\n",
-    "\n",
-    "# rrt_connect = og.RRTConnect(space_information)\n",
-    "# planner._simple_setup.setPlanner(rrt_connect)\n",
-    "\n",
-    "path = planner.plan_to_tcp_pose(start_joints, goal_pose)\n",
-    "calculate_joint_path_length(path)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "planner._simple_setup = create_simple_setup(planner.is_state_valid_fn, planner.joint_bounds)\n",
-    "# space_information = planner._simple_setup.getSpaceInformation()\n",
-    "# space_information.clearValidStateSamplerAllocator()\n",
-    "# space_information.setValidStateSamplerAllocator(ob.ValidStateSamplerAllocator(allocDeterministicValidStateSampler))\n",
-    "# space_information.allocValidStateSampler()\n",
-    "\n",
-    "# rrt_connect = og.RRTConnect(space_information)\n",
-    "# planner._simple_setup.setPlanner(rrt_connect)\n",
-    "\n",
-    "path = planner.plan_to_tcp_pose(start_joints, goal_pose)\n",
-    "calculate_joint_path_length(path)"
-   ]
-  },
   {
    "cell_type": "markdown",
    "metadata": {},