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| Field name | Description |
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| Robots | Number of robots used (default = 1) |
| Pose | Robots pose [ (meters); (meters); angle (radians)] |
| Initial_pose | Initial pose of robots |
| Sampling_time | Sampling time (seconds) |
| Iteration | Actual iteration of the main simulation loop |
| Time | Elapsed experiment time (seconds) |
| Stop_time | Max duration of the experiment (seconds) |
| Workspace | Vertexes defining the polygonal workspace in clockwise order |
| Bounds | Bounds of the outer box of the workspace (meters) [min_, max_, min_, max_] |
| Non-holonomic | True if robots have nonholonomic drive; false for holonomic drive (default = true) |
| Command_delay | Transmission delay (seconds) |
| Geometric_center | Coordinates of the geometric center of the robot |
| Exp_over | True if the experiment is over |
| Exp_over_msg | Message describing why the experiment is over |
| Filename | Name of the controller file |
| Version | Simulator version |
| Addons | List of add-ons to be used |
| Addons_suffix | List of suffixes to be used in add-on’s filename |
|
| Robot | Robot mechanical characteristics |
| Robot.Max_linear_speed | Maximum linear speed (m/s) |
| Robot.Wheels_semiaxis_length | Semiaxis length (m) |
| Robot.Diameter | Diameter of robot chassis (m) |
| Robot.Distance_center_barycenter | Distance from the geometric center of the robot to the center of rotation |
|
| Animation | Animation structure |
| Animation.Title | Title of the simulation (default = “[Simulation]”) |
| Animation.Grid | Enable/disable grid (default = true) |
| Animation.Show_initial_pose | Show/hide initial pose of robots (default = true) |
| Animation.Show_real_shape | If true, the actual robot shape is shown; otherwise, a pointwise robot is depicted (default = true) |
| Animation.Wake | Enable/disable robots’ wake (default = true) |
| Animation.Wake_style | If wake is enabled, use the defined style; styles are the same as in the Matlab function plot (default = “-”) |
| Animation.Playback_speed | Simulation playback speed in seconds (default = 1) |
| Animation.Enable | Enable the animation (default = true) |
| Animation.Base_colors | Base colors to be used in the animation; they will be repeated if needed |
| Animation.Colors | Robot colors to be used in the animation; they are computed repeating the base colors if needed |
|
| History | Historical data structure |
| History.Time | Simulation time |
| History.Pose | Robot pose |
| History.Command | Robot command |
| History.Command_time | Time when the command is received |
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