def replan_before_action()

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

• 23 lines of code
• 15 McCabe index (conditional complexity)

    def replan_before_action(self):
        # Find the closest unseen position
        _, unseen_pos, with_blockers = self.bot._shortest_path(
            lambda pos, cell: not self.bot.vis_mask[pos], try_with_blockers=True
        )

        if unseen_pos:
            self.bot.stack.append(GoNextToSubgoal(self.bot, unseen_pos, reason="Explore"))
            return None

        # Find the closest unlocked unopened door
        def unopened_unlocked_door(pos, cell):
            return cell and cell.type == "door" and not cell.is_locked and not cell.is_open

        # Find the closest unopened door
        def unopened_door(pos, cell):
            return cell and cell.type == "door" and not cell.is_open

        # Try to find an unlocked door first.
        # We do this because otherwise, opening a locked door as
        # a subgoal may try to open the same door for exploration,
        # resulting in an infinite loop.
        _, door_pos, _ = self.bot._shortest_path(unopened_unlocked_door, try_with_blockers=True)
        if not door_pos:
            # Try to find a locker door if an unlocked one is not available.
            _, door_pos, _ = self.bot._shortest_path(unopened_door, try_with_blockers=True)

        # Open the door
        if door_pos:
            door_obj = self.bot.mission.unwrapped.grid.get(*door_pos)
            # If we are going to a locked door, there are two cases:
            # - we already have the key, then we should not drop it
            # - we don't have the key, in which case eventually we should drop it
            got_the_key = self.carrying and self.carrying.type == "key" and self.carrying.color == door_obj.color
            open_reason = "KeepKey" if door_obj.is_locked and got_the_key else None
            self.bot.stack.pop()
            self.bot.stack.append(OpenSubgoal(self.bot, reason=open_reason))
            self.bot.stack.append(GoNextToSubgoal(self.bot, door_obj, reason="Open"))
            return

        assert False, "0nothing left to explore"