Python GazeboSimulator.world_names Examples

Example #1

File: test_gazebo_simulator.py Project: robotology/gym-ignition

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()

Example #2

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()

Example #3

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()

Example #4

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()

Example #5

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"