According to the submitted paper, with sbp-env "one can quickly swap out different components to test novel ideas" and "validate ... hypothesis rapidly". However, from the examples in the documentation, it is unclear to me how I can obtain performance metrics on the planners when a run a test.

Is there a way to save such metrics to a file or print them when running planners in sbp-env? If not, this might be a nice feature to implement in a future version. Otherwise, you could consider adding an example to the documentation on how to compare different planners in the same scenario.

(this question is part of the JOSS review openjournals/joss-reviews#3782)

I tried some source, destination positions with the following command and there seems some issue in recognition of the path. python main.py rrt maps/4d.png --engine 4d

Attaching screenshot below:

(Part of the JOSS review openjournals/joss-reviews#3782)

Mentioning the requirement of python version >= 3.8 in README would also help users the way it's done over here. Python versions < 3.8 are not compatible with scipy 1.6

(Part of the JOSS review openjournals/joss-reviews#3782)

I was wondering why you have the following remark block in your installation instructions:

I think it would be easier to add those two packages to the file requirements_klampt.txt. That way they'll be installed automatically, it saves the user an extra action. Or is there any reason I'm missing why that shouldn't be done?

When I run the example from the quick start page in the documentation, an exception occurs.

The command: python main.py rrt maps/room1.png

The exception:

Traceback (most recent call last):
  File "main.py", line 287, in <module>
    environment.run()
  File "C:\Users\Olger\PycharmProjects\sbp-env\env.py", line 198, in run
    self.visualiser.terminates_hook()
  File "C:\Users\Olger\PycharmProjects\sbp-env\visualiser.py", line 148, in terminates_hook
    self.env_instance.sampler.visualiser.terminates_hook()
  File "C:\Users\Olger\PycharmProjects\sbp-env\env.py", line 126, in __getattr__
    return object.__getattribute__(self.visualiser, attr)
AttributeError: 'PygameEnvVisualiser' object has no attribute 'sampler'

The exception only occurs after the simulation has finished so it seems like a minor problem. Although I'm not really sure what happens at env.py, line 126, in __getattr__ and why. So, I don't have a proposed fix.

When specifying a goal and start point in the commands line, it is possible to specify invalid points. Specifying an invalid start and goal will result in an infinite loop.

For example, running: python main.py rrt maps\room1.png start 10,10 goal 15,15, will result in an infinite loop with the following GUI:

Expected behavior when supplying an invalid option would be an exception.

Though it's standard, adding instruction to run tests in the documentation might be helpful for users wanting to contribute.

(Part of the JOSS review openjournals/joss-reviews#3782)

The graph building method in the prm planner (build_graph() in prmPlanner.py) can take quite some time when a large number of nodes is used. However, the user is not notified that the planner is still processing data. The first time I encountered this, I suspected the software got stuck in an infinite loop because the window was not responding anymore. I think this can be easily fixed by adding a tqdm bar in the build_graph() method (at line 83)

(this suggestion is part of the JOSS review openjournals/joss-reviews#3782)

Hi 1.I am wonderingt that the parameter (use_rtree)in choose_least_cost_parent() function and rewire() funtion (RRT). Is it no longer necessary because we use numpy's calculation method? 2. When i run the informedrrt algorithm, the ellipse display of the graphic drawing does not appear as shown in the document. How can it be displayed？ I'm sorry to interrupt you from your busy schedule.