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swagger2markup
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That's why TOML exists. It's like INI, but standardized, has arrays, dictionaries and multiline strings. And it's not a nightmare to implement like YAML, which has a 23449-word spec (TOML has 3339)
There are ways to generate a pdf from an OpenAPI-definition. You could use something like swagger2markup. But be warned that this approach has a pretty limited flexibility, the tools are often badly supported and it may involve a lot of work.
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