remove pointless while loop

guided_mrmp/tests/traj_from_points_test.py

@@ -30,26 +30,26 @@ def test_traj_from_points():
         start = robot_starts[i]
         goal = robot_goals[i]
 
-        while time.time() - start_time < 10:
-            try:
-                rrtstar = RRTStar(env, (start[0], start[1]), (goal[0], goal[1]), 0.5, 0.05, 500, r=2.0)
-                rrtstarpath = rrtstar.run()
-                rrtstarpath = list(reversed(rrtstarpath))
-                xs = []
-                ys = []
-                for node in rrtstarpath:
-                    xs.append(node[0])
-                    ys.append(node[1])
+        
+        try:
+            rrtstar = RRTStar(env, (start[0], start[1]), (goal[0], goal[1]), 0.5, 0.05, 500, r=2.0)
+            rrtstarpath = rrtstar.run()
+            rrtstarpath = list(reversed(rrtstarpath))
+            xs = []
+            ys = []
+            for node in rrtstarpath:
+                xs.append(node[0])
+                ys.append(node[1])
 
-                x,y,h,path = get_traj_from_points(np.array([start[0], start[1],0]), dynamics, target_velocity, T, DT, [xs, ys])
-                x_hists.append(x)
-                y_hists.append(y)
-                h_hists.append(h)
-                paths.append(path)
-                success_count += 1
-                break
-            except Exception as e:
-                print(f"Robot {i} failed to find a valid trajectory: {e}")
+            x,y,h,path = get_traj_from_points(np.array([start[0], start[1],0]), dynamics, target_velocity, T, DT, [xs, ys])
+            x_hists.append(x)
+            y_hists.append(y)
+            h_hists.append(h)
+            paths.append(path)
+            success_count += 1
+            
+        except Exception as e:
+            print(f"Robot {i} failed to find a valid trajectory: {e}")
 
         end_time = time.time()
         total_time += (end_time - start_time)