diff --git a/conf.pest b/conf.pest
index 3b8810b..5ed23cc 100644
--- a/conf.pest
+++ b/conf.pest
@@ -1,3 +1,5 @@
-world = { ASCII_DIGIT+ ~ " " ~ ASCII_DIGIT+ }
-robot_init = { ASCII_DIGIT+ ~ " " ~ ASCII_DIGIT+ ~ " " ~ ("S" | "N" | "W" | "E") }
-robot_instructions = { ASCII_ALPHA_UPPER+ }
+World = { HeaderWorld ~ NEWLINE+ ~ Robot+ }
+HeaderWorld = { ASCII_DIGIT+ ~ " " ~ ASCII_DIGIT+ }
+Robot = { HeaderRobot ~ NEWLINE ~ Instructions ~ NEWLINE+ }
+HeaderRobot = { ASCII_DIGIT+ ~ " " ~ ASCII_DIGIT+ ~ " " ~ ("S" | "N" | "W" | "E") }
+Instructions = { ("F" | "L" | "R")+ }
diff --git a/src/main.rs b/src/main.rs
index a3e574e..68460dc 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -75,77 +75,71 @@ fn gen_random_instructions() -> String {
 
 /// Parse the config file, generate the world and robot pool.
 fn parse_config(conf: String, pool: &mut Vec<robot::Robot>) -> Result<world::World, String> {
-    let mut lines: Vec<&str> = conf.split('\n').collect();
-    let raw_world = match ConfParser::parse(Rule::world, lines.remove(0)) {
-        Ok(s) => s.as_str(),
-        Err(_) => return Err(String::from("World config is broken.")),
+    let pairs = match ConfParser::parse(Rule::World, &conf) {
+        Ok(p) => p,
+        Err(_) => return Err(String::from("Config is broken.")),
     };
-    let mut w: Vec<i32> = Vec::with_capacity(2);
-    for n in raw_world.split_whitespace() {
-        let v: i32 = n.parse::<i32>().unwrap();
-        w.push(v);
+
+    let mut world = world::World { x: 0, y: 0 };
+    let mut id = 1;
+    for pair in pairs {
+        for inner in pair.into_inner() {
+            match inner.as_rule() {
+                Rule::HeaderWorld => {
+                    let mut w: Vec<i32> = Vec::with_capacity(2);
+                    for n in inner.as_str().split_whitespace() {
+                        let v: i32 = n.parse::<i32>().unwrap();
+                        w.push(v);
+                    }
+                    world = world::World { x: w[0], y: w[1] };
+                }
+                Rule::Robot => {
+                    let mut vpos: Vec<robot::Position> = Vec::new();
+                    let mut vor: Vec<robot::Orientation> = Vec::new();
+                    let mut vinst: Vec<Vec<robot::Instruction>> = Vec::new();
+                    for inner_robot in inner.into_inner() {
+                        match inner_robot.as_rule() {
+                            Rule::HeaderRobot => {
+                                let mut setup = inner_robot.as_str().split_whitespace();
+                                let rx = setup.next().unwrap();
+                                let ry = setup.next().unwrap();
+                                let ro = setup.next().unwrap();
+                                vpos.push(robot::Position {
+                                    x: rx.parse::<i32>().unwrap(),
+                                    y: ry.parse::<i32>().unwrap(),
+                                });
+                                vor.push(match ro {
+                                    "N" => robot::Orientation::N,
+                                    "E" => robot::Orientation::E,
+                                    "S" => robot::Orientation::S,
+                                    _ => robot::Orientation::W,
+                                })
+                            }
+                            Rule::Instructions => {
+                                let instructions = inner_robot.as_str();
+                                vinst.push(robot::instructions_from_string(
+                                    instructions.chars().rev().collect::<String>(),
+                                )?);
+                                let r = robot::Robot::new(
+                                    id,
+                                    vor.pop().unwrap(),
+                                    vpos.pop().unwrap(),
+                                    vinst.pop().unwrap(),
+                                );
+                                match check_map(&r, &world) {
+                                    Ok(()) => pool.push(r),
+                                    Err(err) => return Err(err),
+                                }
+                                id += 1;
+                            }
+                            _ => unreachable!(),
+                        }
+                    }
+                }
+                _ => unreachable!(),
+            };
+        }
     }
-    let world = world::World { x: w[0], y: w[1] };
-    lines.remove(0);
-    let mut r_id: u32 = 0;
-    loop {
-        r_id += 1;
-        if lines.len() == 0 {
-            break;
-        }
-        let raw_setup = match ConfParser::parse(Rule::robot_init, lines.remove(0)) {
-            Ok(s) => s.as_str(),
-            Err(_) => return Err(String::from("Robot setup is broken.")),
-        };
-
-        let rand_instructions = gen_random_instructions();
-        let l = lines.remove(0);
-
-        let instructions = match ConfParser::parse(Rule::robot_instructions, l) {
-            Ok(s) => s.as_str(),
-            Err(_) => rand_instructions.as_str(),
-        };
-
-        let mut setup = raw_setup.split_whitespace();
-        let pos_x = setup.next().unwrap();
-        let pos_y = setup.next().unwrap();
-        let orientation = setup.next().unwrap();
-        // Convert values of the setup line
-        let r_x = pos_x.parse::<i32>().unwrap();
-        let r_y = pos_y.parse::<i32>().unwrap();
-        let r_o = match orientation {
-            "N" => robot::Orientation::N,
-            "E" => robot::Orientation::E,
-            "S" => robot::Orientation::S,
-            "W" => robot::Orientation::W,
-            _ => {
-                return Err(String::from(
-                    "The third token of the setup line do not match any orientations !",
-                ))
-            }
-        };
-        if !robot::is_instructions(instructions) {
-            return Err(String::from("Invalid instructions !"));
-        }
-
-        let inst = robot::instructions_from_string(instructions.chars().rev().collect::<String>())?;
-
-        let r = robot::Robot::new(r_id, r_o, robot::Position { x: r_x, y: r_y }, inst);
-        // Load robot inside the pool.
-        match check_map(&r, &world) {
-            Ok(()) => pool.push(r),
-            Err(err) => return Err(err),
-        }
-
-        if lines.len() == 0 {
-            break;
-        }
-        if l.len() == 0 {
-            continue;
-        }
-        lines.remove(0);
-    }
-
     Ok(world)
 }
 
diff --git a/src/robot.rs b/src/robot.rs
index 6d12f87..79c9877 100644
--- a/src/robot.rs
+++ b/src/robot.rs
@@ -9,7 +9,7 @@ pub struct Robot {
     pub id: u32,
     pub o: Orientation,
     pub p: Position,
-    i: Vec<Instruction>,
+    pub i: Vec<Instruction>,
 }
 
 impl Robot {