def replan()

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

• 19 lines of code
• 10 McCabe index (conditional complexity)

    def replan(self, action_taken=None):
        """Replan and suggest an action.

        Call this method once per every iteration of the environment.

        Args:
            action_taken: The last action that the agent took. Can be `None`, in which
            case the bot assumes that the action it suggested was taken (or that it is
            the first iteration).

        Returns:
            suggested_action: The action that the bot suggests. Can be `done` if the
            bot thinks that the mission has been accomplished.

        """
        self._process_obs()

        # Check that no box has been opened
        self._check_erroneous_box_opening(action_taken)

        # TODO: instead of updating all subgoals, just add a couple
        # properties to the `Subgoal` class.
        for subgoal in self.stack:
            subgoal.update_agent_attributes()

        if self.stack:
            self.stack[-1].replan_after_action(action_taken)

        # Clear the stack from the non-essential subgoals
        while self.stack and self.stack[-1].is_exploratory():
            self.stack.pop()

        suggested_action = None
        while self.stack:
            subgoal = self.stack[-1]
            suggested_action = subgoal.replan_before_action()
            # If is not clear what can be done for the current subgoal
            # (because it is completed, because there is blocker,
            # or because exploration is required), keep replanning
            if suggested_action is not None:
                break
        if not self.stack:
            suggested_action = self.mission.unwrapped.actions.done

        self._remember_current_state()

        return suggested_action