Merge pull request RobotLocomotion#3 from RobotLocomotion/prm_compari…

…son_tweaks tweak PRM comparison
hanlanqian · Oct 15, 2023 · 1f6caca · 1f6caca
2 parents df11235 + afe3811
commit 1f6caca
Showing 1 changed file with 29 additions and 19 deletions.
diff --git a/reproduction/prm_comparison/prm_comparison.ipynb b/reproduction/prm_comparison/prm_comparison.ipynb
@@ -63,7 +63,8 @@
    "outputs": [],
    "source": [
     "SEED = 0\n",
-    "np.random.seed(SEED)"
+    "np.random.seed(SEED)\n",
+    "CORE_CNT = mp.cpu_count() # you may edit this."
    ]
   },
   {
@@ -142,12 +143,34 @@
    ]
   },
   {
+    "attachments": {},
+    "cell_type": "markdown",
+    "metadata": {},
+    "source": [
+     "# Load pre-generated regions"
+    ]
+   },
+   {
+    "cell_type": "code",
+    "execution_count": null,
+    "metadata": {},
+    "outputs": [],
+    "source": [
+     "#load regions\n",
+     "with open(os.path.join(GcsDir(), \"data/prm_comparison/IRIS.reg\"), \"rb\") as f:\n",
+     "    regions = pickle.load(f)"
+    ]
+   },
+   {
    "attachments": {},
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "# Generate IRIS Regions\n",
-    "### via manual seeds"
+    "# Or Regenerate IRIS Regions\n",
+    "\n",
+    "Note: This IRIS region computation is slow. We give the option to load the pre-generated regions in the cells below; in which case you can skip this step.\n",
+    "\n",
+    "## via manual seeds"
    ]
   },
   {
@@ -162,8 +185,7 @@
     "iris_options.termination_threshold = -1\n",
     "iris_options.relative_termination_threshold = 0.02\n",
     "iris_options.num_collision_infeasible_samples = 1\n",
-    "iris_options.random_seed = SEED\n",
-    "CORE_CNT = mp.cpu_count() # you may edit this."
+    "iris_options.random_seed = SEED\n"
    ]
   },
   {
@@ -218,22 +240,10 @@
    ]
   },
   {
-   "attachments": {},
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "## Or load pre-generated regions"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "#load regions\n",
-    "with open(os.path.join(GcsDir(), \"data/prm_comparison/IRIS.reg\"), \"rb\") as f:\n",
-    "    regions = pickle.load(f)"
+    "# Create the GCS Trajectory Optimization"
    ]
   },
   {
@@ -335,7 +345,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "## Generate PRM"
+    "## Or Generate PRM"
    ]
   },
   {