irsim.env.env_config
====================

.. py:module:: irsim.env.env_config


Classes
-------

.. autoapisummary::

   irsim.env.env_config.EnvConfig


Module Contents
---------------

.. py:class:: EnvConfig(world_name: str | None, env_param_instance: irsim.config.env_param.EnvParam | None = None, world_param_instance: irsim.config.world_param.WorldParam | None = None)

   Environment configuration loader and builder from YAML.

   Responsibilities:
       - Resolve and parse a YAML configuration into structured dictionaries
         (basic categories: ``world``, ``gui``, ``robot``, ``obstacle``)
       - Construct ``World`` and object collections and produce an ``EnvPlot``
       - Support reloading the YAML and updating the scene in the same figure


   .. py:attribute:: object_factory


   .. py:method:: load_yaml(world_name: str | None = None) -> None

      Parse the YAML file and populate internal configuration state.

      :param world_name: Path or name of the YAML file. If ``None``, will try to
                         resolve via ``file_check`` and fall back to empty/defaults.



   .. py:method:: initialize_objects() -> Any

      Construct world, objects and plot from the current parsed config.

      :returns: ``(world, objects, env_plot, robot_collection, obstacle_collection, map_collection)``
      :rtype: Tuple

      .. rubric:: Notes

      - Caches the created ``EnvPlot`` and ``objects`` internally for use
        during in-place reloads.



   .. py:method:: reload_objects() -> Any

      Rebuild world/objects and update the current figure in-place.

      This method reuses the existing ``EnvPlot`` instance and its figure/axes,
      clearing old artists and re-initializing with the new world and objects.

      :returns: ``(world, objects, env_plot, robot_collection, obstacle_collection, map_collection)``
      :rtype: Tuple



   .. py:method:: reload_yaml_objects(world_name) -> Any

      Reload YAML and update the scene using the existing figure.

      This re-parses the YAML and then calls :py:meth:`reload_objects` to
      apply the new configuration without creating a new figure window.

      :param world_name: Optional path/name of the YAML to reload. If ``None``,
                         uses the previously resolved YAML file.

      :returns: ``(world, objects, env_plot, robot_collection, obstacle_collection, map_collection)``
      :rtype: Tuple



   .. py:property:: parse
      :type: dict[str, Any]


      The parsed kwargs from the yaml file.


   .. py:property:: logger

      Get the logger of the env_param.