def test_load_default_world(gazebo: scenario.GazeboSimulator):
assert gazebo.initialize()
assert gazebo.world_names()
assert len(gazebo.world_names()) == 1
world1 = gazebo.get_world()
assert world1
assert world1.name() in gazebo.world_names()
world2 = gazebo.get_world(gazebo.world_names()[0])
assert world2
assert world1.id() == world2.id()
assert world1.name() == world2.name()
def test_insert_world_multiple_calls(gazebo: scenario.GazeboSimulator):
single_world_sdf = utils.get_empty_world_sdf()
assert gazebo.insert_world_from_sdf(single_world_sdf)
assert not gazebo.insert_world_from_sdf(single_world_sdf)
assert gazebo.insert_world_from_sdf(single_world_sdf, "world2")
assert gazebo.initialize()
assert "default" in gazebo.world_names()
assert "world2" in gazebo.world_names()
world1 = gazebo.get_world("default")
world2 = gazebo.get_world("world2")
assert world1.name() == "default"
assert world2.name() == "world2"
assert world1.id() != world2.id()
def test_insert_multiple_world(gazebo: scenario.GazeboSimulator):
multi_world_sdf = utils.get_multi_world_sdf_file()
assert gazebo.insert_worlds_from_sdf(multi_world_sdf)
assert gazebo.initialize()
assert "world1" in gazebo.world_names()
assert "world2" in gazebo.world_names()
world1 = gazebo.get_world("world1")
world2 = gazebo.get_world("world2")
assert world1.name() == "world1"
assert world2.name() == "world2"
assert world1.id() != world2.id()
def test_insert_multiple_world_rename(gazebo: scenario.GazeboSimulator):
multi_world_sdf = utils.get_multi_world_sdf_file()
assert not gazebo.insert_worlds_from_sdf(multi_world_sdf, ["only_one_name"])
assert gazebo.insert_worlds_from_sdf(multi_world_sdf, ["myWorld1", "myWorld2"])
assert gazebo.initialize()
assert "myWorld1" in gazebo.world_names()
assert "myWorld2" in gazebo.world_names()
world1 = gazebo.get_world("myWorld1")
world2 = gazebo.get_world("myWorld2")
assert world1.name() == "myWorld1"
assert world2.name() == "myWorld2"
assert world1.id() != world2.id()
def test_insert_multiple_worlds(gazebo: scenario.GazeboSimulator):
empty_world_sdf = utils.get_empty_world_sdf()
assert gazebo.insert_world_from_sdf(empty_world_sdf, "myWorld1")
assert not gazebo.insert_world_from_sdf(empty_world_sdf, "myWorld1")
assert gazebo.insert_world_from_sdf(empty_world_sdf, "myWorld2")
assert gazebo.initialize()
assert "myWorld1" in gazebo.world_names()
assert "myWorld2" in gazebo.world_names()
my_world1 = gazebo.get_world("myWorld1")
my_world2 = gazebo.get_world("myWorld2")
assert my_world1.id() != my_world2.id()
assert my_world1.name() == "myWorld1"
assert my_world2.name() == "myWorld2"