Ego vehicle drives through NPC vehicles

[krtt]

Sim v2021.3 (Linux)
Apollo 6.0 (Modular testing)
Public map: Tartu Beta Release 3
Ego vehicle: SVL Lincoln (but similar problem is also with our custom car)

Illustrative video:

sim_svl_vse_vehicles4_short.mp4

Related test scenario json created in VSE and run with VSE runner:

vse_sim3_full_lap_fromPocket_lincoln_npcVehicles_bus.zip

With NPC pedestrians it is the same or even worse where ego vehicle drives through them (but this issue is already reported by somebody else).

[EricBoiseLGSVL]

Yes, there is no collision in api simulations, If you want that you need to change the source code. See here. #1802
As for pedestrian ground truth, we are working on a fix for api spawned pedestrians and hope to release a fix soon.