How to change WalkerBoneControl via. spawn_npc.py?

[laurenceandrews]

I'm trying to spawn a group of walkers with edited skeletons without using UnrealEditor. I'd love to be able to use the spawn_npc.py example file in the PythonAPI, but since the script uses the WalkerAIController class to spawn NPCs, I'm struggling to figure out how to use the Walker class' apply_control method to apply my bone transforms.

Clearly there's a type mismatch here, but I was hoping that somehow, I might be able to fudge this to work, perhaps using the Actor class' parent method, since Walker and WalkerAIController are inherited from Actor. The script runs when I create a WalkerBoneControl and apply it to the parent of my WalkerAIControllers, however I'm not seeing any difference in the walkers when I run the script. Any advice?

At the moment I'm trying to put my code in step 5 of the spawn_npc.py example script, where the controllers are initialized, as follows:

5. initialize each controller and set target to walk to (list is [controller, actor, controller, actor ...])

    # set how many pedestrians can cross the road
    world.set_pedestrians_cross_factor(percentagePedestriansCrossing)
    for i in range(0, len(all_id), 2):
        # start walker
        all_actors[i].start()
        # set walk to random point
        all_actors[i].go_to_location(world.get_random_location_from_navigation())
        # max speed
        all_actors[i].set_max_speed(float(walker_speed[int(i/2)]))

        # attempt to apply bone control to Walker via. WalkerAIController (my code below, expecting straight arms)
        control = carla.WalkerBoneControl()
        first_tuple = ('crl_arm__L', carla.Transform(rotation=carla.Rotation(roll=180)))
        second_tuple = ('crl_arm__R', carla.Transform(rotation=carla.Rotation(roll=180)))
        third_tuple = ('ctrl_shoulder__L', carla.Transform(rotation=carla.Rotation(roll=180)))
        fourth_tuple = ('ctrl_shoulder__R', carla.Transform(rotation=carla.Rotation(roll=180)))
        control.bone_transforms = [first_tuple, second_tuple, third_tuple, fourth_tuple]
        all_actors[i].parent.apply_control(control)

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