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# Accessible World Design

Worlds should test accessibility and safety, not only large empty rooms. Every world needs a version, coordinate convention, annotated test zones, known limitations, and licensing information for imported assets.

## World library

| World       | Core geometry                                           | Primary questions                                        |
| ----------- | ------------------------------------------------------- | -------------------------------------------------------- |
| Home        | Doors, furniture, rugs, thresholds, bathroom approach   | Can CAREC maneuver without clipping or unsafe proximity? |
| School      | Long corridors, classroom doors, moving people, clutter | Does navigation remain predictable in traffic?           |
| Clinic      | Tight turns, equipment, reflective surfaces             | Are perception and recovery robust?                      |
| Ramp course | Slopes, landings, cross-slope, transitions              | Are limits enforced and localization stable?             |
| Safety lab  | Walls, drop-offs, gates, movable obstacles              | Do stop and degraded-state rules trigger correctly?      |

## Parameterized geometry

Door width, corridor width, turning space, ramp angle, threshold height, surface friction, lighting, crowd density, obstacle speed, and sensor visibility should be parameters rather than duplicated worlds.

Do not label a world or robot as standards-compliant merely because dimensions were inspired by accessibility guidance. Compliance depends on jurisdiction, product configuration, measurements, and evidence.

## Dynamic actors

People and obstacles need repeatable trajectories and seeds. Include crossing, following, approach-from-behind, sudden emergence, hesitation, and stopped-in-path behavior. Test with stationary actors first, then controlled motion.


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