Examples

This page collects small examples and pointers to example input/output files included in the SMART repository.

Shipped Example Files

The public SMART repository includes example inputs such as:

• example_paths_xy.txt

• example_paths_yx.txt

• scen_1_1000_paths.txt

• random-32-32-20.map

• random-32-32-20-random-1.scen

• warehouse-10-20-10-2-1.map

• warehouse-10-20-10-2-1-random-1.scen

These path files are inputs to SMART. They are not generated by run_sim.py.

Run the README Example

The upstream README uses this 50-agent example:

python run_sim.py --map_name=random-32-32-20.map \
    --scen_name=random-32-32-20-random-1.scen \
    --num_agents=50 \
    --path_filename=example_paths_xy.txt \
    --flip_coord=0

The matching (y,x,t) example is:

python run_sim.py --map_name=random-32-32-20.map \
    --scen_name=random-32-32-20-random-1.scen \
    --num_agents=50 \
    --path_filename=example_paths_yx.txt \
    --flip_coord=1

Inspecting example outputs

Example path files contain per-agent sequences of (x,y,t) or (y,x,t) steps. For instance, an agent line looks like:

Agent 0:(5,16,0)->(5,17,1)->(5,18,2)->(...)

See the repository’s example_paths_xy.txt and example_paths_yx.txt for full examples used in demonstrations.

Larger Example

The repository also ships scen_1_1000_paths.txt as a larger path file for batch or scalability experiments.