Robot fails to get ball against wall

[gordonm867]

Description

Sometimes, when the ball goes against the wall (most likely when a ball is missed during a pass), the robot assigned to get it will fail to get it because it cannot figure out how to get around the wall. That puts the whole game at a halt, and the only way that the halt can end is if the other team gains possession of the ball in theory. That is not an ideal situation and risks ruining possession or delaying the game and missing potential scoring opportunities. It also prevents us from simulating a game on our own.

Steps to reproduce

1. Run the simulator on any play that involves passing.
2. Wait for the robots to inevitably miss a pass, causing the ball to travel against the wall. The robots will sometimes collect the ball, but fail to do so consistently. To speed the process along, it may help to turn the receiver off or relocate it after the pass, to ensure that the passing misses.

Result: The result is that sometimes, the robots do collect the ball and run fine. However, other times, the robots get really close, hit the wall, and cannot figure out how to escape the wall and still get the ball. It has also happened that the robot will hit the ball too fast and somehow get the ball stuck in them, but that may be a simulator glitch; our code should, however, be able to navigate a robot around obstacles like walls to collect the ball under any circumstance.

• [ Not yet] This bug has been reproduced by someone else

Additional information

I would assume it's a trajectory planning issue but I am not sure because RRT should be able to resolve that. So I am not totally sure what the cause is.