How can I modify the environmental information that Carla sends to Pylot, in order to perform fault injection testing on Pylot's planning and control?

[zhouyu102030]

"Hello, I want to conduct a fault injection test on the planning and control module of Pylot. For example, when Pylot is driving and there is a pedestrian ahead, can I access the pedestrian information in Carla? When the vehicle is at a certain distance from the pedestrian, I would like to modify the type of the pedestrian's obstacle, for example, to 'other', or change the obstacle's position, traffic light colors, etc. Then, can I feed this modified obstacle data back into Pylot's planning module? If so, which part of the code should I modify?

Thank you for your answer!"