delete forgotten replan2

breuleux · Jan 26, 2019 · 0a095e5 · 0a095e5
1 parent 10ecafb
commit 0a095e5
Showing 1 changed file with 0 additions and 69 deletions.
diff --git a/babyai/bot.py b/babyai/bot.py
@@ -150,75 +150,6 @@ def replan(self):
 
         return self.actions.toggle
 
-    def replan2(self, action):
-        # CASE 1: The door is locked
-        # we need to fetch the key and return
-        # i.e. update the stack REGARDLESS of the action
-        # TODO: do we really need to be in front of the locked door to realize that we need the key for it ?
-        if self.fwd_cell.type == 'door' and self.fwd_cell.is_locked:
-            if not self.carrying or self.carrying.type != 'key' or self.carrying.color != self.fwd_cell.color:
-                # Find the key
-                key_desc = ObjDesc('key', self.fwd_cell.color)
-                key_desc.find_matching_objs(self.bot.mission)
-
-                # If we're already carrying something
-                if self.carrying:
-                    self.bot.stack.pop()
-
-                    # Find a location to drop what we're already carrying
-                    drop_pos_cur = self.bot.find_drop_pos()
-
-                    # Take back the object being carried
-                    self.bot.stack.append(PickupSubgoal(self.bot))
-                    self.bot.stack.append(GoNextToSubgoal(self.bot, drop_pos_cur))
-
-                    # Go back to the door and open it
-                    self.bot.stack.append(OpenSubgoal(self.bot, 'drop_the_key'))
-                    self.bot.stack.append(GoNextToSubgoal(self.bot, tuple(self.fwd_pos)))
-
-                    # Go to the key and pick it up
-                    self.bot.stack.append(PickupSubgoal(self.bot))
-                    self.bot.stack.append(GoNextToSubgoal(self.bot, key_desc))
-
-                    # Drop the object being carried
-                    self.bot.stack.append(DropSubgoal(self.bot))
-                    self.bot.stack.append(GoNextToSubgoal(self.bot, drop_pos_cur))
-                else:
-                    self.bot.stack.pop()
-
-                    self.bot.stack.append(OpenSubgoal(self.bot, 'drop_the_key'))
-                    self.bot.stack.append(GoNextToSubgoal(self.bot, tuple(self.fwd_pos)))
-                    self.bot.stack.append(PickupSubgoal(self.bot))
-                    self.bot.stack.append(GoNextToSubgoal(self.bot, key_desc))
-
-                return False
-
-        # CASE 2: The door is already open
-        # we need to close it so we can open it again
-        if self.fwd_cell.type == 'door' and self.fwd_cell.is_open:
-            if action in (self.actions.left, self.actions.right, self.actions.forward):
-                # Go back to the door to close it
-                self.bot.stack.append(GoNextToSubgoal(self.bot, tuple(self.fwd_pos)))
-            # done/pickup/drop actions won't have any effect -> next iteration would be CASE 2 of same subgoal
-            # toggle action will close the door, but we would need to go through the same subgoal again
-            # -> next iteration would be CASE 3 of same subgoal
-            return True
-
-        # CASE 3: The door is openable
-        if action == self.actions.toggle:
-            self.bot.stack.pop()
-            # Sometimes we need to drop the key that we just used to
-            # open the door in order to proceed with the mission
-            if self.fwd_cell.is_locked and self.datum == 'drop_the_key':
-                drop_key_pos = self.bot.find_drop_pos()
-                self.bot.stack.append(DropSubgoal(self.bot))
-                self.bot.stack.append(GoNextToSubgoal(self.bot, drop_key_pos))
-        if action in (self.actions.left, self.actions.right):
-            # Go back to the door to open it
-            self.bot.stack.append(GoNextToSubgoal(self.bot, tuple(self.fwd_pos)))
-        # done/pickup/drop/forward actions won't have any effect -> next iteration would be CASE 3 of same subgoal
-        return True
-
 
 class DropSubgoal(Subgoal):