Failure to add autonomous agents

[ericaweng]

I change these two lines in episode_params_val.ini from:

agents_start=[] ; start pos_3's of the generated agent configs
agents_end=[] ; end pos_3's of the generated agent configs

to:

agents_start=[[5, 6, 1.5], [5, 7, 1.5]] ; start pos_3's of the generated agent configs
agents_end=[[12, 16.5, 1.2], [3, 5, 2.3]] ; end pos_3's of the generated agent configs

Running PYOPENGL_PLATFORM=egl PYTHONPATH='.' python3 tests/test_episodes.py,
I get this error:

Waiting for Joystick connection...
Robot <-- Joystick (receiver) connection established
Robot --> Joystick (sender) connection established


Starting episode "t_ETH1" in building "ETH"
Simulator running in synchronous mode, dt=0.050s
Render mode: Schematic view (TOPVIEW only)
Generating 2 autonomous human agents
Traceback (most recent call last):
  File "tests/test_episodes.py", line 110, in <module>
    test_episodes()
  File "tests/test_episodes.py", line 80, in test_episodes
    simulator.add_agents(new_humans)
  File "/home/eweng/SocNavBench/simulators/simulator.py", line 456, in add_agents
    self.add_agent(agent)
  File "/home/eweng/SocNavBench/simulators/simulator_helper.py", line 95, in add_agent
    keep_episode_running=self.params.keep_episode_running,
  File "/home/eweng/SocNavBench/agents/agent.py", line 50, in simulation_init
    Agent._init_fmm_map(self)
  File "/home/eweng/SocNavBench/agents/agent.py", line 289, in _init_fmm_map
    mask_grid_mn=obstacle_occupancy_grid,
  File "/home/eweng/SocNavBench/utils/fmm_map.py", line 122, in create_fmm_map_based_on_goal_position
    mask_grid_mn=mask_grid_mn)
  File "/home/eweng/SocNavBench/utils/fmm_map.py", line 42, in __init__
    self.compute_fmm_distance_and_angle()
  File "/home/eweng/SocNavBench/utils/fmm_map.py", line 58, in compute_fmm_distance_and_angle
    phi, dx=self.fmm_distance_map.map_scale * np.ones(2))
  File "/home/eweng/.anaconda3/envs/socnavbench/lib/python3.6/site-packages/skfmm/pfmm.py", line 111, in distance
    int(self_test), DISTANCE, order, narrow, periodic)
ValueError: the array phi contains no zero contour (no zero level set)

However, when I change it to these two lines:

agents_start=[[5, 6, 1.5], [5, 7, 1.5]] ; start pos_3's of the generated agent configs
agents_end=[[12, 16.5, 1.2], [13, 14.5, 1.2]] ; end pos_3's of the generated agent configs

It works fine.
Are there constraints on x / y / theta which make the second set of agent start / goal params work but not the first set?

All tests pass (PYTHONPATH='.' python3 tests/all_unit_tests.py, and PYOPENGL_PLATFORM=egl PYTHONPATH='.' python3 tests/test_socnav.py / python3 joystick/joystick_client.py).