def activate_rendering(self, data):
"""
:type data: SetBoolRequest
:return:
"""
pybullet_wrapper.render = data.data
if data.data:
pybullet_wrapper.activate_rendering()
else:
pybullet_wrapper.deactivate_rendering()
return SetBoolResponse()
def reinitialize(self):
with self.lock:
super(PyBulletWorldObject, self).reinitialize()
deactivate_rendering()
joint_state = None
base_pose = None
if self._pybullet_id is not None:
joint_state = self.joint_state
base_pose = self.base_pose
self.suicide()
s = self.get_urdf_str()
self._pybullet_id = load_urdf_string_into_bullet(s, base_pose)
self.__sync_with_bullet()
if joint_state is not None:
joint_state = {k: v for k, v in joint_state.items() if k in self.get_joint_names()}
self.joint_state = joint_state
activate_rendering()