added tests for monkey & bananas planning problem

dmeoli · dmeoli · commit 24041e9a1a0a · 2019-08-23T16:38:32.000+02:00
diff --git a/planning.py b/planning.py
@@ -360,8 +360,8 @@ def monkey_and_bananas():
     >>> mb.act(expr('Grasp(Bananas, B, High)'))
     >>> mb.goal_test()
     True
-    >>> mb.act(expr('UnGrasp(Bananas, B, High)'))
-    >>> mb.act(expr('ClimbDown(Box, B)'))
+    >>> mb.act(expr('UnGrasp(Bananas)'))
+    >>> mb.act(expr('ClimbDown(Box)'))
     >>> mb.goal_test()
     False
     >>> mb.act(expr('ClimbUp(B, Box)'))
@@ -384,13 +384,13 @@ def monkey_and_bananas():
                  Action('ClimbUp(x, b)',
                         precond='At(Monkey, x) & Height(Monkey, Low) & At(b, x) & Climbable(b) & Height(b, Low)',
                         effect='On(Monkey, b) & Height(Monkey, High) & ~Height(Monkey, Low)'),
-                 Action('ClimbDown(b, x)',
-                        precond='On(Monkey, b) & Height(Monkey, High)',
+                 Action('ClimbDown(b)',
+                        precond='On(Monkey, b)',
                         effect='~On(Monkey, b) & Height(Monkey, Low) & ~Height(Monkey, High)'),
                  Action('Grasp(b, x, h)',
                         precond='At(Monkey, x) & Height(Monkey, h) & Height(b, h) & At(b, x) & Graspable(b)',
                         effect='Have(Monkey, b)'),
-                 Action('UnGrasp(b, x, h)',
+                 Action('UnGrasp(b)',
                         precond='Have(Monkey, b)',
                         effect='~Have(Monkey, b)')
                  ])
diff --git a/tests/test_planning.py b/tests/test_planning.py
@@ -104,6 +104,20 @@ def test_have_cake_and_eat_cake_too():
     assert p.goal_test()
 
 
+def test_monkey_and_bananas():
+    p = monkey_and_bananas()
+    assert p.goal_test() is False
+    solution = [expr("Go(A, C)"),
+                expr("Push(Box, C, B)"),
+                expr("ClimbUp(B, Box)"),
+                expr("Grasp(Bananas, B, High)")]
+
+    for action in solution:
+        p.act(action)
+
+    assert p.goal_test()
+
+
 def test_shopping_problem():
     p = shopping_problem()
     assert p.goal_test() is False
@@ -156,6 +170,13 @@ def test_graphPlan():
     assert expr('Move(B, Table, C)') in sussman_anomaly_solution
     assert expr('Move(A, Table, B)') in sussman_anomaly_solution
 
+    monkey_and_bananas_solution = monkey_and_bananas_graphPlan()
+    monkey_and_bananas_solution = linearize(monkey_and_bananas_solution)
+    assert expr('Go(A, C)') in monkey_and_bananas_solution
+    assert expr('Push(Box, C, B)') in monkey_and_bananas_solution
+    assert expr('ClimbUp(B, Box)') in monkey_and_bananas_solution
+    assert expr('Grasp(Bananas, B, High)') in monkey_and_bananas_solution
+
     shopping_problem_solution = shopping_graphPlan()
     shopping_problem_solution = linearize(shopping_problem_solution)
     assert expr('Go(Home, HW)') in shopping_problem_solution
