Map generation script

[kaushikbalasundar]

Hello! Is there a script that generates different agent and map configurations in the YAML format? If so, could you please direct me to where I can find it?

[whoenig]

Seems to be missing indeed. Here is some script as starting point.

"""
Script to create random MAPF instance
"""

import os
import collections
import random
import copy
import yaml


def reachable(map_size, start, goal, obstacles):
    visited = set()
    stack = [tuple(start)]
    while stack:
        vertex = stack.pop()
        if vertex not in visited:
            if vertex == tuple(goal):
                return True
            visited.add(vertex)
            for delta in [[1,0], [-1,0], [0,1], [0,-1]]:
                pos = (vertex[0] + delta[0],vertex[1] + delta[1])
                if pos[0] >= 0 and pos[0] < map_size[0] and pos[1] >= 0 and pos[1] < map_size[1] and pos not in obstacles:
                    stack.append(pos)
    return False

def randAgents1(map_size, num_agents, num_groups, num_obstacles):
    locations = [(x, y) for x in range(0, map_size[0]) for y in range(0, map_size[1])]

    random.shuffle(locations)

    #
    Group = collections.namedtuple('Group', 'start goal')
    groups = []
    obstacles = []

    # assign obstacles
    for agentIdx in range(0, num_obstacles):
        location = locations[0]
        obstacles.append(location)
        del locations[0]

    locationsE = copy.deepcopy(locations) #list(locations)
    random.shuffle(locationsE)

    # different number of agents; fixed agents per group
    for groupIdx in range(0, num_groups):
        group = Group(start=[], goal=[])
        groups.append(group)

    for agentIdx in range(0, num_agents):
        groupIdx = agentIdx % num_groups

        while True:
            locationS = locations[0]
            locationE = locationsE[0]

            if reachable(map_size, locationS, locationE, obstacles):
                groups[groupIdx].start.append(locationS)
                groups[groupIdx].goal.append(locationE)
                del locations[0]
                del locationsE[0]
                # print("reachable!")
                break
            else:
                # print("not reachable!")
                random.shuffle(locations)
                random.shuffle(locationsE)
                # try again...

    return groups, obstacles

def writeFile(obstacles, map_size, groups, file_name):
    data = dict()
    data["map"] = dict()
    data["map"]["dimensions"] = map_size
    data["map"]["obstacles"] = list(obstacles)
    data["agents"] = []
    i = 0
    for group in groups:
        for agentIdx in range(0, len(group.start)):
            agent = dict()
            agent["name"] = "agent" + str(i)
            agent["start"] = list(group.start[agentIdx])
            agent["goal"] = list(group.goal[agentIdx])
            i += 1
            data["agents"].append(agent)
    with open(file_name, "w") as f:
        yaml.dump(data, f, indent=4)

if __name__ == "__main__":

    map_size = [8, 8]
    num_agents = 15
    num_groups = num_agents
    num_obstacles = int(map_size[0] * map_size[1] * 0.2)

    for num_agents in range(1, 15):
        for i in range(0, 100):
          groups, obstacles = randAgents1(map_size, num_agents, num_groups, num_obstacles)
          writeFile(obstacles, map_size, groups, "map_{}by{}_obst{}_agents{}_ex{}.yaml".format(
              map_size[0],
              map_size[1],
              num_obstacles,
              num_agents,
              i))