Fix detach call.

huawei-noah · Jan 27, 2023 · 57a83c3 · 57a83c3
1 parent a58b990
commit 57a83c3
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -14,6 +14,7 @@ Copy and pasting the git commit messages is __NOT__ enough.
 - Scenario paths is no longer manually supplied to Envision server while setup. Scenario paths are automatically sent to Envision server from SMARTS during simulation startup phase.
 ### Deprecated
 ### Fixed
+- Fix sensor detach call when a bubble vehicle exits a bubble at same time it is done.
 ### Removed
 ### Security
 

diff --git a/smarts/core/agent_manager.py b/smarts/core/agent_manager.py
@@ -681,6 +681,7 @@ def attach_sensors_to_vehicles(self, agent_interface, vehicle_ids):
 
     def detach_sensors_from_vehicle(self, vehicle_id: str):
         """Called when agent observation is finished and sensors should be removed from a vehicle"""
+        if not vehicle_id in self._vehicle_with_sensors:
+            return
         self._vehicle_index.stop_agent_observation(vehicle_id)
-        if vehicle_id in self._vehicle_with_sensors:
-            del self._vehicle_with_sensors[vehicle_id]
+        del self._vehicle_with_sensors[vehicle_id]