Exemplos de GazeboSimulator.insert_worlds_from_sdf em Python

Exemplo n.º 1

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()

Exemplo n.º 2

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()