test.py

import pddlgym

from pddlgym_planners import PlannerHandler
from pddlgym_planners.ff import FF
from pddlgym_planners.fd import FD
from pddlgym_planners.planner import PlanningFailure


def test_planners():
    """Make sure that the plans found by the planners
    succeed in the environments
    """
    planners = PlannerHandler()
    env_names = ["PDDLEnvBlocks-v0", "PDDLEnvBlocks_operator_actions-v0"]

    print("[Test] Evaluating satisficing and optimal planners\n")

    for type in ["satisficing", "optimal"]:
        for planner_name, planner in planners.get_planners_of_type(type):
            for env_name in env_names:
                
                print("[Test] evaluating {} on {}".format(planner_name, env_name))
                env = pddlgym.make(env_name)
                state, _ = env.reset()

                try:
                    plan = planner(env.domain, state)
                    for act in plan:
                        _, reward, done, _ = env.step(act)
                    assert reward == 1.
                    assert done
                    print("\t{} succeeded".format(planner_name))
                except PlanningFailure:
                    print("\t{} failed".format(planner_name))
                

def test_readme_example():
    """Make sure that the README example runs
    """
    # Planning with FastForward
    ff_planner = FF()
    env = pddlgym.make("PDDLEnvBlocks-v0")
    state, _ = env.reset()
    print("Plan:", ff_planner(env.domain, state))
    print("Statistics:", ff_planner.get_statistics())

    # Planning with FastDownward (--alias seq-opt-lmcut)
    fd_planner = FD()
    env = pddlgym.make("PDDLEnvBlocks-v0")
    state, _ = env.reset()
    print("Plan:", fd_planner(env.domain, state))
    print("Statistics:", fd_planner.get_statistics())

    # Planning with FastDownward (--alias lama-first)
    lama_first_planner = FD(alias_flag="--alias lama-first")
    env = pddlgym.make("PDDLEnvBlocks-v0")
    state, _ = env.reset()
    print("Plan:", lama_first_planner(env.domain, state))
    print("Statistics:", lama_first_planner.get_statistics())


if __name__ == "__main__":
    test_planners()
    # test_readme_example()