Update docs

docs/source/yaml/index.rst

@@ -9,40 +9,25 @@ Specifically, each world draws from a set of **location** and **object** metadat
 
 Worlds themselves can be created programmatically, or defined using world YAML files.
 
-For the programmatic approach, you can create a world as follows.
-
-**Option 1** : Using ``set_metadata`` : Supports specifying metadata with a single YAML file for locations and one for objects.
-
-.. code-block:: python
-
-   from pyrobosim.core import Robot, World
-
-   world = World()
-   world.set_metadata(locations="/path/to/location_data.yaml",
-                      objects="/path/to/object_data.yaml")
-
-   # Then, you can add the other entities
-   world.add_robot(...)
-   world.add_room(...)
-   world.add_hallway(...)
-   world.add_location(...)
-   world.add_object(...)
-
-**Option 2** : Using ``add_metadata`` : Supports specifying metadata with multiple YAML files for locations and for objects.
+For the programmatic approach, you can create a world as follows either using ``set_metadata`` or ``add_metadata``.
 
 .. code-block:: python
 
    from pyrobosim.core import Robot, World
 
    world = World()
-   world.add_metadata(locations="/path/to/location_data1.yaml",
-                      objects="/path/to/object_data1.yaml")
 
-   world.add_metadata(locations=["/path/to/location_data2.yaml"],
-                      objects=[
-                        "/path/to/object_data2.yaml",
-                        "/path/to/object_data3.yaml",
-                      ])
+   # 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(...)
@@ -51,6 +36,7 @@ For the programmatic approach, you can create a world as follows.
    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.
 
 .. code-block:: yaml

docs/source/yaml/world_schema.rst

@@ -18,7 +18,7 @@ The world schema looks as follows, where ``<angle brackets>`` are placeholders:
        - <path/to/location_data1_file.yaml>
        - <path/to/location_data2_file.yaml>
        - ...
-       - path/to/location_dataN_file.yaml
+       - <path/to/location_dataN_file.yaml>
       objects:
        - </path/to/object_data1_file.yaml>
        - </path/to/object_data2_file.yaml>