Configuration

A configuration is a plain dictionary. The engine ships with a default (hivebr.engine.simulator.DEFAULT_CONFIG) and examples usually load config/default.yaml with load_config.

Full example

window:
  width: 1400
  height: 750
  min_width: 1100
  min_height: 650
  panel_width: 300
  title: "hivebr"

world:
  width: 20.0
  height: 12.0
  grid_size: 1.0
  obstacle_radius: 0.4
  show_origin: true
  show_axes: true
  show_inflation: true
  # map_image: "maze.png"     # optional occupancy-grid map
  # resolution: 0.1           # metres per pixel
  recharge_places:
    - [3, 3]
    - [5, 5]

camera:
  initial_zoom: 1.0
  min_zoom: 0.25
  max_zoom: 8.0
  zoom_step: 1.1
  margin_x: 1.0
  margin_y: 1.0

# Default B-bot (used directly for N = 1, and as base for the fleet)
robot:
  type: differential
  initial_pose: [2.5, 2.5, 0.0]
  radius: 0.1375
  length: 0.39
  width: 0.275
  wheel_base: 0.285
  max_speed: 3.0
  max_omega: 4.0
  max_steer: 0.52
  tau_v: 0.2                 # first-order motor time constant
  path_max_length: 4000

# Optional fleet: each entry overrides `robot` and may carry a color
robots:
  - { id: 0, type: differential, initial_pose: [2.0, 2.0, 0.0], radius: 0.25 }
  - { id: 1, type: differential, initial_pose: [5.0, 5.0, 0.0], radius: 0.25,
      color: [220, 20, 60] }

lidar:
  enabled: false
  num_rays: 101
  range: 12.0
  fov_deg: 360

# Gaussian actuation noise on the commanded velocities
noise:
  enabled: false
  sigma_v: 0.0               # std of the linear velocity error (m/s)
  sigma_omega: 0.0           # std of the angular velocity error (rad/s)
  limit: 3.0                 # truncate the error at +/- limit * sigma
  seed: null                 # optional RNG seed for reproducibility

waypoints:
  goal_tolerance: 0.5
  define_orientation: true
  show_tolerance_circle: false
  points: []                 # global list, applied to B-bot 0

interaction:
  collision_policy: stop     # "stop" | "resolve" | "none"
  robot_collision: true      # master switch for robot-robot collision checks
  robot_safety_margin: 0.0
  resolve_push: 0.05
  comm_radius: null          # null = full visibility
  show_robot_links: false

show_times: true             # HUD per-B-bot timing (line followers)

obstacles:
  - { x: 6.0, y: 5.0, radius: 1.2 }

colors:
  background: [30, 30, 30]
  robot: [30, 144, 255]
  fleet:
    - [30, 144, 255]
    - [220, 20, 60]
    - [50, 205, 50]
    - [255, 165, 0]
    - [148, 0, 211]
    - [0, 206, 209]
    - [255, 105, 180]
    - [255, 215, 0]

theme: dark                  # "dark" | "light"

Section reference

Section	Key	Meaning
window	width, height	Initial window size in pixels.
	min_width, min_height	Lower bound when resizing.
	panel_width	Width of the right control panel.
world	width, height	World size in metres.
	grid_size	Background grid spacing.
	obstacle_radius	Default radius for mouse-added obstacles.
	map_image, resolution	Occupancy-grid source image and metres/pixel.
	line_map_image	Line-follower track image (black line on white), rendered as background.
	recharge_places	Charging spots ([x, y] or [x, y, r]).
camera	initial_zoom, min_zoom, max_zoom	Zoom limits.
robot	type	Kinematic model (see Robot Models).
	initial_pose	[x, y, theta] spawn pose.
	radius	Collision radius.
	max_speed, max_omega, max_steer	Actuation limits.
	tau_v	First-order velocity time constant.
	num_sensors, line_width, sensor_offset, sensor_span, sensor_aperture, sensor_noise, line_threshold	Line-follower TCRT5000 array.
	lap_detection_radius, min_lap_distance, min_lap_time, lost_timeout	Line-follower lap timing / end-of-track detection.
robots	list of specs	Fleet; each overrides robot and may set color.
lidar	enabled, num_rays, range, fov_deg	Sensor settings.
noise	enabled	Inject Gaussian noise on the actuated velocities.
	sigma_v, sigma_omega	Std of the linear / angular velocity error.
	sigma	Alias applied to both sigma_v and sigma_omega.
	limit	Truncate the sampled error at +/- limit * sigma.
	seed	Optional RNG seed (reproducible runs).
waypoints	goal_tolerance	Distance to consider a waypoint reached.
	define_orientation	Ask for a final heading when adding waypoints.
interaction	collision_policy	stop, resolve or none for B-bot pairs.
	robot_collision	Master switch; false disables robot-robot collision checks entirely.
	robot_safety_margin	Extra separation added to r_i + r_j.
	comm_radius	Visibility radius for decentralized neighbors.
	show_robot_links	Draw communication links between neighbors.
show_times		Show per-B-bot timing in the HUD (toggled by Toggle Times).
theme		dark or light palette.

Mono is fleet with N = 1

If robots is omitted, the engine builds a single B-bot from robot. Adding robots is the only change needed to go multi-robot.