Use the same random seed when comparing RRT and RRT* in tests (sea-ba…

…ss#43)
muhidabid · May 17, 2024 · ac40298 · ac40298
1 parent 48c87cf
commit ac40298
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/test/planning/test_rrt.py b/test/planning/test_rrt.py
@@ -100,6 +100,8 @@ def test_plan_rrt_star():
     path_original = planner.plan(q_start, q_goal)
 
     # Then, plan with RRT* enabled (use maximum rewire distance for effect).
+    # Note we need to reset the seed so the nominal plans are equivalent.
+    np.random.seed(1234)
     options.rrt_star = True
     options.max_rewire_dist = np.inf
     planner = RRTPlanner(model, collision_model, options=options)