YAML Schemas

pyrobosim relies on YAML files to define entities in the world.

Specifically, each world draws from a set of locations and objects. Worlds themselves can be created programmatically, or defined using their own YAML files.

For the programmatic approach,

world.set_metadata(locations="location_data.yaml",
                   objects="object_data.yaml")

For the YAML approach, you can define this in the schema,

metadata:
  locations: </path/to/location_data_file.yaml>
  objects: </path/to/object_data_file.yaml>

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