YAML Schemas

PyRoboSim worlds can be created using the Python API, but can also loaded from YAML files.

Specifically, each world draws from a set of location and object metadata files.

Worlds themselves can be created programmatically, or defined using world YAML files.

For the programmatic approach, you can create a world as follows either using set_metadata or add_metadata.

from pyrobosim.core import Robot, World

world = World()

# locations and objects can accept either a single file path or a list of file paths.
world.add_metadata(
   locations=[
      "/path/to/location_data1.yaml",
      "/path/to/location_data2.yaml"
   ],
   objects=[
      "/path/to/object_data1.yaml",
      "/path/to/object_data2.yaml"
   ]
)

# Then, you can add the other entities
world.add_robot(...)
world.add_room(...)
world.add_hallway(...)
world.add_location(...)
world.add_object(...)

For the YAML approach, you can directly point to the location and object metadata in the world YAML file itself.

metadata:
  locations: /path/to/location_data.yaml
  objects: /path/to/object_data.yaml

Then, the world can be loaded from file as follows.

from pyrobosim.core import WorldYamlLoader

world = WorldYamlLoader().from_file("/path/to/world_file.yaml")

Refer to the following sections for more details on the schemas.

• World Schema
• Location Schema
• Object Schema