This Motion planning code doesn't print anything out besides the "Easy Trial $1".$ What am I not printing out correctly for the grids:

$"""$ Motion planning on a rectangular grid using A$*$ search $"""$

from random import random

from random import seed

from queue import PriorityQueue

from copy import deepcopy

class State$($object$)$:

def $\_\_$init$\_\_($self$,$ start$\_$position, goal$\_$position, start$\_$grid$)$:

self.position $=$ start$\_$position

self.goal $=$ goal$\_$position

self.grid $=$ start$\_$grid

self.total$\_$moves $=0$

def manhattan$\_$distance$($self$)$:

$"""$ Calculates the Manhattan distance to the goal $"""$

return abs$($self$.$position$[0]-$ self.goal$[0])+$ abs$($self$.$position$[1]-$ self.goal$[1])$

def get$\_$possible$\_$moves$($self$)$:

$"""$ Returns a list of possible moves from the current position $"""$

moves $=[]$

for dx in $[-1,1]$:

new$\_$r $=$ self.position$[0]+$ dx

if $0<$ new$\_$r $<$ num$\_$rows $-1$:

for dy in $[-1,1]$:

new$\_$c $=$ self.position$[1]+$ dy

if $0<$ new$\_$c $<$ num$\_$cols $-1$ and self.grid$[$new$\_$r$][$new$\_$c$]==0$:

moves.append$(($new$\_$r$,$ new$\_$c$))$

return moves

def $\_\_$lt$\_\_($self$,$ other$)$:

$"""$ Overloads the $<$ operator for priority queue comparison $"""$

return $($self$.$total$\_$moves $+$ self.manhattan$\_$distance$())<($other$.$total$\_$moves $+$ other.manhattan$\_$distance$())$

def create$\_$grid$()$:

# $...($Code for creating a randomized grid$)$

$"""$

Create and return a randomized grid

$0\text{'}$s in the grid indcate free squares

$1\text{'}$s indicate obstacles

DON'T MODIFY THIS ROUTINE.

DON'T MODIFY THIS ROUTINE.

DON'T MODIFY THIS ROUTINE.

DON'T MODIFY THIS ROUTINE.

ARE YOU MODIFYING THIS ROUTINE?

IF SO$,$ STOP IT$.$

$"""$

# Start with a num$\_$rows by num$\_$cols grid of all zeros

grid $=[[0$ for c in range$($num$\_$cols$)]$ for r in range$($num$\_$rows$)]$

# Put ones around the boundary

grid$[0]=[1$ for c in range$($num$\_$cols$)]$

grid$[$num$\_$rows $-1]=[1$ for c in range$($num$\_$cols$)]$

for r in range$($num$\_$rows$)$:

grid$[$r$][0]=1$

grid$[$r$][$num$\_$cols $-1]=1$

# Sprinkle in obstacles randomly

for r in range$(1,$ num$\_$rows $-1)$:

for c in range$(2,$ num$\_$cols $-2)$:

if random$()<$ obstacle$\_$prob:

grid$[$r$][$c$]=1$;

# Make sure the goal and start spaces are clear

grid$[1][1]=0$

grid$[$num$\_$rows $-2][$num$\_$cols $-2]=0$

return grid

def print$\_$grid$($grid$)$:

# $...($Code for printing the grid$)$

$"""$

Print a grid, putting spaces in place of zeros for readability

DON'T MODIFY THIS ROUTINE.

DON'T MODIFY THIS ROUTINE.

DON'T MODIFY THIS ROUTINE.

DON'T MODIFY THIS ROUTINE.

ARE YOU MODIFYING THIS ROUTINE?

IF SO$,$ STOP IT$.$

$"""$

for r in range$($num$\_$rows$)$:

for c in range$($num$\_$cols$)$:

if grid$[$r$][$c$]==0$:

print$(\text{'}\text{'},$ end$=\text{'}\text{'})$

else:

print$($grid$[$r$][$c$],$ end$=\text{'}\text{'})$

print$(\text{'}\text{'})$

print$(\text{'}\text{'})$

return

def main$()$:

seed$(0)$

#$---$ Easy mode

# Global variables

# Saves us the trouble of continually passing them as parameters

num$\_$rows $=8$

num$\_$cols $=16$

obstacle$\_$prob $=\mathrm{.}20$

for trial in range$(5)$:

print$(\text{'}$

$-----$Easy trial $\text{'}+$ str$($trial $+1)+\text{'}-----\text{'})$

main$()$

#$---$ Uncomment the following sets of trials when you're ready

#$---$ Hard mode

num$\_$rows $=15$

num$\_$cols $=30$

obstacle$\_$prob $=\mathrm{.}30$

for trial in range$(5)$:

print$(\text{'}$

$-----$Harder trial $\text{'}+$ str$($trial $+1)+\text{'}-----\text{'})$

###main$()$

#$---$ INSANE mode

num$\_$rows $=20$

num$\_$cols $=60$

obstacle$\_$prob $=\mathrm{.}35$

for trial in range$(5)$:

print$(\text{'}$

$-----$INSANE trial $\text{'}+$ str$($trial $+1)+\text{'}-----\text{'})$

###main$()$

if $\_\_$name$\_\_==\text{'}\_\_$main$\_\_\text{'}$:

seed$(0)$

#$---$ Easy mode

# Global variables

# Saves us the trouble of continually passing them as parameters

num$\_$rows $=8$

num$\_$cols $=16$

obstacle$\_$prob $=\mathrm{.}20$

for trial in range$(5)$:

print$(\text{'}$

$-----$Easy trial $\text{'}+$ str$($trial $+1)+\text{'}-----\text{'})$

main$()$

#$---$ Uncomment the following sets of trials when you're ready

#$---$ Hard mode

num$\_$rows $=15$

num$\_$cols $=30$

obstacle$\_$prob $=\mathrm{.}30$

for trial in range$(5)$:

print$(\text{'}$

$-----$Harder trial $\text{'}+$ str$($trial $+1)+\text{'}-----\text{'})$

###main$()$

#$---$ INSANE mode

num$\_$rows $=20$

num$\_$cols $=60$

obstacle$\_$prob $=\mathrm{.}35$

for trial in range$(5)$:

print$(\text{'}$

$-----$INSANE trial $\text{'}+$ str$($trial $+1)+\text{'}-----\text{'})$

###main$()$