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How to properly write yaml file for ros control

Isn't their any tutorial to write exactly the syntax and rules to write a yaml file for ros controller launch. I am dealing with this type of files first time, and i didn't found tutorial for this yaml file like urdf, sdf, launch and all others. Although by studying the pre existing yaml file i can learn how to make them again, but isn't their any rules to write this file like urdf files?

How to properly write yaml file for ros control

Isn't their any tutorial to write exactly the syntax and rules syntax/rules to write a yaml file for ros controller launch. I am dealing with this type of files first time, and i didn't found tutorial for this yaml file like urdf, sdf, launch and all others. Although by studying the pre existing yaml file i can learn how to make them again, but isn't their any rules to write this file like urdf files?