Merge pull request #88 from Tigul/fix-object-remove

[bullet-world] fixes in remove method to avoid crashes
cram2 · Aug 8, 2023 · 079245e · 079245e
2 parents 72dd8c0 + ba4a710
commit 079245e
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/src/pycram/bullet_world.py b/src/pycram/bullet_world.py
@@ -775,7 +775,10 @@ def remove(self) -> None:
         # has a reference to the shadow world
         if self.world.shadow_world != None:
             self.world.world_sync.remove_obj_queue.put(self)
+            self.world.world_sync.remove_obj_queue.join()
         p.removeBody(self.id, physicsClientId=self.world.client_id)
+        if BulletWorld.robot == self:
+            BulletWorld.robot = None
 
     def attach(self, object: Object, link: Optional[str] = None, loose: Optional[bool] = False) -> None:
         """