Motion planner (for base) fails in empty room

[mjlbach]

from igibson.envs.igibson_env import iGibsonEnv

from igibson.utils.motion_planning_wrapper import MotionPlanningWrapper

def main():

    config = {'build_graph': True,
     'clutter': False,
     'debug': False,
     'depth_high': 10.0,
     'depth_low': 0.0,
     'depth_noise_rate': 0.0,
     'discount_factor': 0.99,
     'dist_tol': 1,
     'eval_freq': 20000,
     'fisheye': False,
     'image_height': 512,
     'image_width': 512,
     'load_object_categories': ['agent', 'floor'],
     'load_texture': True,
     'max_step': 500,
     'mode': 'headless',
     'not_load_object_categories': ['ceilings'],
     'num_envs': 8,
     'object_randomization_freq': None,
     'output': ['rgb', 'ins_seg', 'depth', 'sem_map', 'occupancy_grid'],
     'pixel_reward_scaling': 350.0,
     'potential_reward_scaling': 1.0,
     'pybullet_load_texture': False,
     'resume': True,
     'reward_functions': ['pixel', 'search', 'visitation'],
     'robot': {'action_normalize': True,
               'action_type': 'continuous',
               'base_name': None,
               'controller_config': {'base': {'name': 'DifferentialDriveController'}},
               'name': 'Turtlebot',
               'proprio_obs': ['dd_base_lin_vel', 'dd_base_ang_vel'],
               'rendering_params': None,
               'scale': 1.0,
               'self_collision': False},
     'save_freq': 200000,
     'scan_noise_rate': 0.0,
     'scene': 'igibson',
     'scene_id': 'Rs_int',
     'should_open_all_doors': False,
     'stack_frames': 0,
     'success_reward_scaling': 10.0,
     'texture_randomization_freq': None,
     'training_timesteps': 5000000,
     'urdf_file': 'Rs_int',
     'vertical_fov': 120,
     'visitation_reward_scaling': 750.0}

    env = iGibsonEnv(
        config_file=config,
        mode="gui_interactive",
        action_timestep=1 / 10.0,
        physics_timestep=1 / 40.0,
    )

    motion_planner = MotionPlanningWrapper(env)

    for _ in range(10):
        env.reset()
        plan = None
        itr = 0
        while plan is None and itr < 10:
            plan = motion_planner.plan_base_motion([1.0, -2, 0])
            itr += 1

        motion_planner.dry_run_base_plan(plan)

    for _ in range(10):
        env.reset()
        plan = None
        itr = 0
        # x, y, z = env.task.target_obj.get_position()
        import pdb; pdb.set_trace()
        while plan is None and itr < 10:
            plan = motion_planner.plan_base_motion([1.0, -2.5, 0])
            itr += 1

        motion_planner.dry_run_base_plan(plan)

    env.close()

    # Batch.from_data_list([data, data])

if __name__ == "__main__":
    main()

[cgokmen]

This might already be fixed in the new motion primitives branch (I remember making many changes to planner) but for other reasons that branch is broken now and won't be fixed at least until next week. Regardless, you might want to take a look there.