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"
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_fuel_world(gazebo: scenario.GazeboSimulator):
# (setup) load a world that includes a fuel model
worlds_folder = Path(__file__) / ".." / ".." / "assets" / "worlds"
world_file = worlds_folder / "fuel_support.sdf"
assert gazebo.insert_world_from_sdf(str(world_file.resolve()))
assert gazebo.initialize()
assert gazebo.run(paused=True)
# the actual test
assert "ground_plane" in gazebo.get_world().model_names()
def test_load_default_world_from_file(gazebo: scenario.GazeboSimulator):
empty_world_sdf = utils.get_empty_world_sdf()
assert gazebo.insert_world_from_sdf(empty_world_sdf)
assert gazebo.initialize()
world = gazebo.get_world()
assert world.id() != 0
assert world.time() == 0.0
assert world.name() == "default"
def test_rename_default_world(gazebo: scenario.GazeboSimulator):
empty_world_sdf = utils.get_empty_world_sdf()
assert gazebo.insert_world_from_sdf(empty_world_sdf, "myWorld")
assert gazebo.initialize()
world = gazebo.get_world()
assert world.id() != 0
assert world.time() == 0.0
assert world.name() == "myWorld"
world1 = gazebo.get_world("myWorld")
assert world1.id() == world.id()
assert world1.time() == 0.0
assert world1.name() == "myWorld"
