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"