Pass locations and objects in add_metadata as list

sea-bass · Jan 4, 2025 · 4a836e4 · 4a836e4
1 parent 301e282
commit 4a836e4
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Showing 3 changed files with 26 additions and 20 deletions.
diff --git a/pyrobosim/examples/demo.py b/pyrobosim/examples/demo.py
@@ -29,13 +29,14 @@ def create_world(multirobot=False):
 
     # Set the location and object metadata
     world.add_metadata(
-        locations=os.path.join(data_folder, "example_location_data_furniture.yaml"),
-        objects=os.path.join(data_folder, "example_object_data_food.yaml"),
-    )
-
-    world.add_metadata(
-        locations=[os.path.join(data_folder, "example_location_data_accessories.yaml")],
-        objects=[os.path.join(data_folder, "example_object_data_drink.yaml")],
+        locations=[
+            os.path.join(data_folder, "example_location_data_furniture.yaml"),
+            os.path.join(data_folder, "example_location_data_accessories.yaml"),
+        ],
+        objects=[
+            os.path.join(data_folder, "example_object_data_food.yaml"),
+            os.path.join(data_folder, "example_object_data_drink.yaml"),
+        ],
     )
 
     # Add rooms

diff --git a/pyrobosim/test/core/test_world.py b/pyrobosim/test/core/test_world.py
@@ -21,18 +21,22 @@ def test_create_world_default():
         """Tests the creation of a world"""
 
         TestWorldModeling.world = World()
+        # to reset the sources from previous testcases
+        TestWorldModeling.world.get_location_metadata().sources = []
+        TestWorldModeling.world.get_object_metadata().sources = []
 
         data_folder = get_data_folder()
         TestWorldModeling.world.set_metadata(
-            locations=os.path.join(data_folder, "example_location_data_furniture.yaml"),
-            objects=os.path.join(data_folder, "example_object_data_food.yaml"),
-        )
-        TestWorldModeling.world.add_metadata(
             locations=[
-                os.path.join(data_folder, "example_location_data_accessories.yaml")
+                os.path.join(data_folder, "example_location_data_furniture.yaml"),
+                os.path.join(data_folder, "example_location_data_accessories.yaml"),
+            ],
+            objects=[
+                os.path.join(data_folder, "example_object_data_food.yaml"),
+                os.path.join(data_folder, "example_object_data_drink.yaml"),
             ],
-            objects=[os.path.join(data_folder, "example_object_data_drink.yaml")],
         )
+
         assert isinstance(TestWorldModeling.world, World)
         assert len(TestWorldModeling.world.get_location_metadata().sources) == 2
         assert len(TestWorldModeling.world.get_object_metadata().sources) == 2

diff --git a/pyrobosim_ros/examples/demo.py b/pyrobosim_ros/examples/demo.py
@@ -26,13 +26,14 @@ def create_world():
 
     # Set the location and object metadata
     world.add_metadata(
-        locations=os.path.join(data_folder, "example_location_data_furniture.yaml"),
-        objects=os.path.join(data_folder, "example_object_data_food.yaml"),
-    )
-
-    world.add_metadata(
-        locations=[os.path.join(data_folder, "example_location_data_accessories.yaml")],
-        objects=[os.path.join(data_folder, "example_object_data_drink.yaml")],
+        locations=[
+            os.path.join(data_folder, "example_location_data_furniture.yaml"),
+            os.path.join(data_folder, "example_location_data_accessories.yaml"),
+        ],
+        objects=[
+            os.path.join(data_folder, "example_object_data_food.yaml"),
+            os.path.join(data_folder, "example_object_data_drink.yaml"),
+        ],
     )
 
     # Add rooms