[Multiverse] corrected multiple removal of same simulator state.

AbdelrhmanBassiouny · Oct 23, 2024 · a6292c8 · a6292c8
1 parent 0f865e1
commit a6292c8
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/src/pycram/datastructures/world.py b/src/pycram/datastructures/world.py
@@ -1227,8 +1227,9 @@ def remove_saved_states(self) -> None:
         Remove all saved states of the World.
         """
         if self.conf.use_physics_simulator_state:
-            for state in self.saved_states.values():
-                self.remove_physics_simulator_state(state.simulator_state_id)
+            simulator_state_ids = set([state.simulator_state_id for state in self.saved_states.values()])
+            for ssid in simulator_state_ids:
+                self.remove_physics_simulator_state(ssid)
         else:
             self.remove_objects_saved_states()
         super().remove_saved_states()