From f931a616ce2f65ae2e22e4c0dd3abeb735a78df8 Mon Sep 17 00:00:00 2001
From: Edoardo Fusa <81247624+Scheggetta@users.noreply.github.com>
Date: Wed, 10 May 2023 16:49:31 +0200
Subject: [PATCH] Fix IndexError problem

It could happen that `idx` variable calculated in line 86 is out of range for `other_nodes` list when `self.goal_tree_turn` is set to False.
---
 sbp_env/planners/birrtPlanner.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sbp_env/planners/birrtPlanner.py b/sbp_env/planners/birrtPlanner.py
index b036dbd..51956e6 100644
--- a/sbp_env/planners/birrtPlanner.py
+++ b/sbp_env/planners/birrtPlanner.py
@@ -80,7 +80,7 @@ def run_once(self):
                     other_poses = self.poses
                     other_nodes = self.nodes
                 distances = np.linalg.norm(
-                    other_poses[: len(self.nodes)] - newpos, axis=1
+                    other_poses[: len(other_nodes)] - newpos, axis=1
                 )
                 if min(distances) < self.args.epsilon:
                     idx = np.argmin(distances)