Enabled controlling actor physics via OSC properties

Change-Id: Iad688753bfb25f0396e0a9bc687fdcf1b14d1f53

Docs/CHANGELOG.md

@@ -53,6 +53,7 @@
     - Added support for a default actor model, in case the stated model is not available
     - Added support for MiscObjects (besides vehicles and pedestrians)
     - Reworked traffic signal handling: The name has to start now either with "id=" or "pos=" depending on whether the position or id is used as unique identifier
+    - Actor physics can now be set via Object Properties (<Property name="physics" value="off" />)
 ### :bug: Bug Fixes
 * Fixed wrong handling of OpenSCENARIO ConditionGroups, which should be handled as parallel composites, not sequences
 * Fixed #443: Repetitions in OpenSCENARIO were not properly working

srunner/scenarioconfigs/openscenario_configuration.py

@@ -172,6 +172,12 @@ def _set_actor_information(self):
         for entity in self.xml_tree.iter("Entities"):
             for obj in entity.iter("Object"):
                 rolename = obj.attrib.get('name', 'simulation')
+                args = dict()
+                for prop in obj.iter("Property"):
+                    key = prop.get('name')
+                    value = prop.get('value')
+                    args[key] = value
+
                 for vehicle in obj.iter("Vehicle"):
                     color = None
                     model = vehicle.attrib.get('name', "vehicle.*")
@@ -185,7 +191,7 @@ def _set_actor_information(self):
 
                     speed = self._get_actor_speed(rolename)
                     new_actor = ActorConfigurationData(
-                        model, carla.Transform(), rolename, speed, color=color, category=category)
+                        model, carla.Transform(), rolename, speed, color=color, category=category, args=args)
                     new_actor.transform = self._get_actor_transform(rolename)
 
                     if ego_vehicle:
@@ -196,7 +202,8 @@ def _set_actor_information(self):
                 for pedestrian in obj.iter("Pedestrian"):
                     model = pedestrian.attrib.get('model', "walker.*")
 
-                    new_actor = ActorConfigurationData(model, carla.Transform(), rolename, category="pedestrian")
+                    new_actor = ActorConfigurationData(
+                        model, carla.Transform(), rolename, category="pedestrian", args=args)
                     new_actor.transform = self._get_actor_transform(rolename)
 
                     self.other_actors.append(new_actor)
@@ -209,7 +216,7 @@ def _set_actor_information(self):
                         model = "static.prop.chainbarrier"
                     else:
                         model = misc.attrib.get('name')
-                    new_actor = ActorConfigurationData(model, carla.Transform(), rolename)
+                    new_actor = ActorConfigurationData(model, carla.Transform(), rolename, category="misc", args=args)
                     new_actor.transform = self._get_actor_transform(rolename)
 
                     self.other_actors.append(new_actor)

srunner/scenarioconfigs/scenario_configuration.py

@@ -19,7 +19,7 @@ class ActorConfigurationData(object):
     """
 
     def __init__(self, model, transform, rolename='other', speed=0, autopilot=False,
-                 random=False, amount=1, color=None, category="car"):
+                 random=False, amount=1, color=None, category="car", args=None):
         self.model = model
         self.rolename = rolename
         self.transform = transform
@@ -29,6 +29,7 @@ def __init__(self, model, transform, rolename='other', speed=0, autopilot=False,
         self.amount = amount
         self.color = color
         self.category = category
+        self.args = args
 
 
 class ActorConfiguration(ActorConfigurationData):

srunner/scenariomanager/carla_data_provider.py

@@ -495,7 +495,7 @@ def handle_actor_batch(batch):
                 if not response.error:
                     actor_ids.append(response.actor_id)
                 else:
-                    print("WARNING: Could not spawn an actor")
+                    raise RuntimeError("Error: Unable to spawn actor")
 
         carla_actors = CarlaActorPool._world.get_actors(actor_ids)
         for actor in carla_actors:
@@ -551,7 +551,10 @@ def setup_actors(actor_list):
         Function to setup a complete list of actors
         """
 
-        SpawnActor = carla.command.SpawnActor       # pylint: disable=invalid-name
+        SpawnActor = carla.command.SpawnActor               # pylint: disable=invalid-name
+        PhysicsCommand = carla.command.SetSimulatePhysics   # pylint: disable=invalid-name
+        FutureActor = carla.command.FutureActor             # pylint: disable=invalid-name
+        ApplyTransform = carla.command.ApplyTransform       # pylint: disable=invalid-name
         batch = []
         actors = []
         for actor in actor_list:
@@ -567,7 +570,13 @@ def setup_actors(actor_list):
             _spawn_point.location.x = actor.transform.location.x
             _spawn_point.location.y = actor.transform.location.y
             _spawn_point.location.z = actor.transform.location.z + 0.2
-            batch.append(SpawnActor(blueprint, _spawn_point))
+
+            if 'physics' in actor.args and actor.args['physics'] == "off":
+                command = SpawnActor(blueprint, _spawn_point).then(
+                    ApplyTransform(FutureActor, actor.transform)).then(PhysicsCommand(FutureActor, False))
+            else:
+                command = SpawnActor(blueprint, _spawn_point).then(PhysicsCommand(FutureActor, True))
+            batch.append(command)
 
         actors = CarlaActorPool.handle_actor_batch(batch)
 
@@ -654,7 +663,6 @@ def request_new_actor(model, spawn_point, rolename='scenario', hero=False, autop
             return None
 
         CarlaActorPool._carla_actor_pool[actor.id] = actor
-        actor.set_simulate_physics(True)
         return actor
 
     @staticmethod
@@ -670,7 +678,6 @@ def request_new_actors(actor_list):
 
         for actor in actors:
             CarlaActorPool._carla_actor_pool[actor.id] = actor
-            actor.set_simulate_physics(True)
         return actors
 
     @staticmethod