carla_actor_test.py

import carla
import random

client = carla.Client('127.0.0.1', 2000)
client.set_timeout(2.0)

world = client.get_world()
people = []

for i in range(2):
    blueprint = random.choice(world.get_blueprint_library().filter('walker.*'))
    spawn_points = world.get_map().get_spawn_points()
    spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform()
    print(spawn_point)
    person = world.try_spawn_actor(blueprint, spawn_point)
    people.append(person)

for ped in people:
    bones = ped.get_bones()
    new_pose = []
    for bone in bones.bone_transforms:
        if bone.name == "crl_foreArm__L":
            bone.relative.rotation.pitch -= 90
            new_pose.append((bone.name, bone.relative))
        elif bone.name == "crl_foreArm__R":
            bone.relative.rotation.pitch -= 90
            new_pose.append((bone.name, bone.relative))
    control = carla.WalkerBoneControlIn()
    control.bone_transforms = new_pose
    ped.set_bones(control)
    ped.blend_pose(0.5)