bug fix of still executing error paths in a1 and a3

Author: YueZhang-studyuse

python/opss25/a1/ex4_basic_planner.py

@@ -36,11 +36,8 @@ def naive_planner(domain: robotrunners, use_with_startkit: BindStartKit):
     def plan(
         env: MAPF.SharedEnvironment, paths: list[list], last_did_error: bool = False
     ):
-        #plan for all agents if any agent is unplanned
-        if any(not p for p in paths):
-            return [run_search(env, i) for i, _ in enumerate(paths)]
-        else:
-            return paths
+        #plan for all agents
+        return [run_search(env, i) for i, _ in enumerate(paths)]
 
     return plan
 

python/opss25/a3/ex3_reserved_planner_3d.py

@@ -28,14 +28,10 @@ def plan(
     ):
         #first clear the reservation table
         table.clear()
-        if any(not p for p in paths):
-            #plan for each agent
-            for i in range(len(paths)):
-                # plan path for agent i
-                paths[i] = run_search(env, i)
-                table.reserve(i, interop.get_agent_state(env, i), *paths[i])
-            return paths
-        else:
-            return paths
-
+        #plan for each agent
+        for i in range(len(paths)):
+            # plan path for agent i
+            paths[i] = run_search(env, i)
+            table.reserve(i, interop.get_agent_state(env, i), *paths[i])
+        return paths
     return plan