YAML Configuration Syntax

Every IR-SIM scenario is a single YAML file with up to four top-level blocks:

• world — the simulation space, clock, coordinate frame, and obstacle map.

• robot — one or more controllable robots (kinematics, shape, goal, behavior, sensors).

• obstacle — static or dynamic obstacles. Robots and obstacles share the same object schema, so any key valid for one is valid for the other.

• gui — optional rendering and interaction options.

The full reference below documents every key, with its default, and includes an interactive schema explorer.

• YAML Configuration Syntax
  • Configuration Overview
  • World Configuration
  • Object Configuration
  • GUI Configuration
  • Configuration Examples