From bf4000d3b84643677caabc83dddea5de4fa5e1ba Mon Sep 17 00:00:00 2001
From: Linfeng <lfz0625@gmail.com>
Date: Tue, 23 Apr 2024 17:53:02 -0400
Subject: [PATCH] add assert for fast downward planner in running once func

---
 predicators/planning.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/predicators/planning.py b/predicators/planning.py
index 561a434831..38f8c3ae1b 100644
--- a/predicators/planning.py
+++ b/predicators/planning.py
@@ -1215,6 +1215,9 @@ def run_task_plan_once(
             raise PlanningFailure(
                 "Skeleton produced by A-star exceeds horizon!")
     elif "fd" in CFG.sesame_task_planner:  # pragma: no cover
+        # Run Fast Downward. See the instructions in the docstring of `_sesame_plan_with_fast_downward`
+        assert "FD_EXEC_PATH" in os.environ, \
+            "Please follow the instructions in the docstring of this method!"
         fd_exec_path = os.environ["FD_EXEC_PATH"]
         exec_str = os.path.join(fd_exec_path, "fast-downward.py")
         timeout_cmd = "gtimeout" if sys.platform == "darwin" \