When I use waypoints in pythonAPI, the physical collision attribute of NPC is lost

[Gump0116]

Here is my code !!!!!

#!/usr/bin/env python3
#

from environs import Env
import lgsvl
import os

env = Env()

def on_waypoint(agent, index):
    print("waypoint {} reached".format(index))

sim = lgsvl.Simulator(env.str("LGSVL__SIMULATOR_HOST", "127.0.0.1"), env.int("LGSVL__SIMULATOR_PORT", 8181))
if sim.current_scene == "BorregasAve":
    sim.reset()
else:
    sim.load("BorregasAve")

spawns = sim.get_spawn()

state = lgsvl.AgentState()
state.transform = spawns[0]

for spawn in sim.get_spawn():
    print(spawn)

#state.transform.position = lgsvl.Vector(3.07,0,-87.25)
forward = lgsvl.utils.transform_to_forward(spawns[0])
right = lgsvl.utils.transform_to_right(spawns[0])

state.velocity.x = -5
state.transform.position = lgsvl.Vector(20,0,5.5)
state.transform.rotation.y = 270

ego = sim.add_agent(env.str("LGSVL__VEHICLE_0", "Lincoln2017MKZ (Apollo 5.0)"), lgsvl.AgentType.EGO, state)

state.transform.position = lgsvl.Vector(10,0,5.5)
state.transform.rotation.y = 270

state.velocity.x = -7

npc1= sim.add_agent("BoxTruck",lgsvl.AgentType.NPC,state)

waypoints=[
    lgsvl.DriveWaypoint(lgsvl.Vector(-5,-2,5.5), 4, lgsvl.Vector(0, 270, 0)),
    lgsvl.DriveWaypoint(lgsvl.Vector(-3,-2,5.5), 3, lgsvl.Vector(0, 270, 0)),
    lgsvl.DriveWaypoint(lgsvl.Vector(-2,-2,5.5), 2, lgsvl.Vector(0, 270, 0)),
    lgsvl.DriveWaypoint(lgsvl.Vector(-1,-2,5.5), 1, lgsvl.Vector(0, 270, 0)),

]

npc1.on_waypoint_reached(on_waypoint)
npc1.follow(waypoints)

# ego.connect_bridge(os.environ.get("BRIDGE_HOST", "192.168.137.3"), 9090)

sim.run()

# sim.run(time_limit=1.0)

[hadiTab]

Hi @Gump0116 . Can you explain a bit more what you mean by "physical collision attribute"? When NPC's operate in waypoint mode they do not actually collide with anything (they will drive through objects). However, the collision will be detected by the collision callback.