def _plan_undo_action()

in data/envs/babyai/bot_agent.py [0:0]

• 20 lines of code
• 18 McCabe index (conditional complexity)

    def _plan_undo_action(self, action_taken):
        """Plan how to undo the taken action."""
        if action_taken == self.actions.forward:
            # check if the 'forward' action was successful
            if not np.array_equal(self.bot.prev_agent_pos, self.pos):
                self.bot.stack.append(GoNextToSubgoal(self.bot, self.pos))
        elif action_taken == self.actions.left:
            old_fwd_pos = self.pos + self.right_vec
            self.bot.stack.append(GoNextToSubgoal(self.bot, old_fwd_pos))
        elif action_taken == self.actions.right:
            old_fwd_pos = self.pos - self.right_vec
            self.bot.stack.append(GoNextToSubgoal(self.bot, old_fwd_pos))
        elif action_taken == self.actions.drop and self.bot.prev_carrying != self.carrying:
            # get that thing back, if dropping was successful
            assert self.fwd_cell.type in ("key", "box", "ball")
            self.bot.stack.append(PickupSubgoal(self.bot))
        elif action_taken == self.actions.pickup and self.bot.prev_carrying != self.carrying:
            # drop that thing where you found it
            fwd_cell = self.bot.mission.unwrapped.grid.get(*self.fwd_pos)
            self.bot.stack.append(DropSubgoal(self.bot))
        elif action_taken == self.actions.toggle:
            # if you opened or closed a door, bring it back in the original state
            fwd_cell = self.bot.mission.unwrapped.grid.get(*self.fwd_pos)
            if fwd_cell and fwd_cell.type == "door" and self.bot.fwd_door_was_open != fwd_cell.is_open:
                self.bot.stack.append(CloseSubgoal(self.bot) if fwd_cell.is_open else OpenSubgoal(self.bot))