I don't think we're there today or anything like that, but it may be within our lifetimes that we're seriously approaching post-scarcity. Renewables are getting cheaper, for instance, which may bring about nearly limitless cheap energy. I won't assume mass scale fusion, but we may tackle the energy issue in other ways (this is my handwaving). Food security is already within reach - most of the issues around it are political (meaning kids in Africa aren't starving because we don't have enough food). The main threats are overpopulation and politics, as tech seems to be ticking along quite nicely.
I am obviously an optimist, oversimplifying a lot, and believe that we won't nuke ourselves into oblivion. I also think that we'll eventually solve our political problems - many of which are based on energy issues. Even if I'm wrong, though, I don't see an issue with UBI experiments and seeing how it goes. We shouldn't use economic theory as a reason to not try something radically different, as economic theory is wrong often enough to warrant the experiment. It may be worth a look at UBI to look at behavior on a macro level, since I think we're eventually going to get there globally and we'll need to know what the hell to do to occupy ourselves in some way that is still productive in that context.