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MAPF-Competition / PlanViz

An offline visualization tool for analysing solutions to multi-robot coordination problems.
https://www.leagueofrobotrunners.org/
MIT License
28 stars 13 forks source link

Support for different agent models #6

Closed YueZhang-studyuse closed 1 year ago

YueZhang-studyuse commented 1 year ago

Currently, the agent model is implicit, it supports the forward displacement of one unit, and it supports rotation by 90 degrees. We want to make the model explicit and describe the actions in a text file.

sketch:

plan symbol followed by drawing instructions (rotation, displacement). the shape of the agent on the grid (square or round plus radius, other abstract shapes made of simple squares). the drawing instructions are keywords followed by numeric parameters. Example: MODEL [name (eg. MAPF, MAPF_T)] SHAPE [circle | square | sprite file] [radius]

REQUIREMENT [orientation ... ... ]

[PLANSYMBOL] ROTATE [radians]

[PLANSYMBOL] DISPLACEMENT [delta x][delta y]

[PLANSYMBOL] FORWARD_DISPLACEMENT [distance]

[PLANSYMBOL] ROTATE [radians] DISPLACEMENT [delta x][delta y]

nobodyczcz commented 1 year ago

Example for MAPF_T:

MODEL MAPF_T SHAPE circle 0.5

F

nobodyczcz commented 1 year ago

What does ros do?

nobodyczcz commented 1 year ago

Give examples of things that cannot be described in this way.

nobodyczcz commented 1 year ago

Look at how PDDL+ does.

dharabor commented 1 year ago

Implicit support for MAPF added in https://github.com/MAPF-Competition/PlanViz/commit/f7b99037636ab5ce709c4e0e366900873068667a

I think we need to start externalising at least the existing models (now two) as per the suggestions in the OP. @shchan13 @YueZhang-studyuse could we please set up a new feature branch for this one?