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Python API Reference

!!! important Versions prior to 0.9.0 have a very different API. For the documentation of the stable version please switch to the stable branch.

carla.Client

  • Client(host, port, worker_threads=0)
  • set_timeout(float_seconds)
  • get_client_version()
  • get_server_version()
  • get_world()

carla.World

  • id
  • map_name
  • debug
  • get_blueprint_library()
  • get_map()
  • get_spectator()
  • get_weather()
  • set_weather(weather_parameters)
  • get_actors()
  • spawn_actor(blueprint, transform, attach_to=None)
  • try_spawn_actor(blueprint, transform, attach_to=None)
  • wait_for_tick(seconds=1.0)
  • on_tick(callback)

carla.DebugHelper

  • draw_point(location, size=0.1, color=carla.Color(), life_time=-1.0, persistent_lines=True)
  • draw_line(begin, end, thickness=0.1, color=carla.Color(), life_time=-1.0, persistent_lines=True)
  • draw_arrow(begin, end, thickness=0.1, arrow_size=0.1, color=carla.Color(), life_time=-1.0, persistent_lines=True)
  • draw_box(box, rotation, thickness=0.1, color=carla.Color(), life_time=-1.0, persistent_lines=True)
  • draw_string(location, text, draw_shadow=False, color=carla.Color(), life_time=-1.0, persistent_lines=True)

carla.BlueprintLibrary

  • find(id)
  • filter(wildcard_pattern)
  • __getitem__(pos)
  • __len__()
  • __iter__()

carla.ActorBlueprint

  • id
  • tags
  • has_tag(tag)
  • match_tags(wildcard_pattern)
  • has_attribute(key)
  • get_attribute(key)
  • set_attribute(key, value)
  • __len__()
  • __iter__()

carla.ActorAttribute

  • id
  • type
  • recommended_values
  • is_modifiable
  • as_bool()
  • as_int()
  • as_float()
  • as_str()
  • as_color()
  • __eq__(other)
  • __ne__(other)
  • __nonzero__()
  • __bool__()
  • __int__()
  • __float__()
  • __str__()

carla.ActorList

  • find(id)
  • filter(wildcard_pattern)
  • __getitem__(pos)
  • __len__()
  • __iter__()

carla.Actor

  • id
  • type_id
  • parent
  • semantic_tags
  • is_alive
  • attributes
  • get_world()
  • get_location()
  • get_transform()
  • get_velocity()
  • get_acceleration()
  • set_location(location)
  • set_transform(transform)
  • set_simulate_physics(enabled=True)
  • destroy()

carla.Vehicle(carla.Actor)

  • bounding_box
  • apply_control(vehicle_control)
  • get_control()
  • set_autopilot(enabled=True)
  • get_speed_limit()
  • get_traffic_light_state()
  • is_at_traffic_light()
  • get_traffic_light()

carla.TrafficLight(carla.Actor)

  • state
  • set_state(traffic_light_state)
  • get_state()
  • set_green_time(green_time)
  • get_green_time()
  • set_yellow_time(yellow_time)
  • get_yellow_time()
  • set_red_time(red_time)
  • get_red_time()
  • get_elapsed_time()
  • freeze(True)
  • is_frozen()

carla.Sensor(carla.Actor)

  • is_listening
  • listen(callback_function)
  • stop()

carla.SensorData

  • frame_number
  • transform

carla.Image(carla.SensorData)

  • width
  • height
  • fov
  • raw_data
  • convert(color_converter)
  • save_to_disk(path, color_converter=None)
  • __len__()
  • __iter__()
  • __getitem__(pos)
  • __setitem__(pos, color)

carla.LidarMeasurement(carla.SensorData)

  • horizontal_angle
  • channels
  • raw_data
  • get_point_count(channel)
  • save_to_disk(path)
  • __len__()
  • __iter__()
  • __getitem__(pos)
  • __setitem__(pos, location)

carla.CollisionEvent(carla.SensorData)

  • actor
  • other_actor
  • normal_impulse

carla.LaneInvasionEvent(carla.SensorData)

  • actor
  • crossed_lane_markings

carla.GnssEvent(carla.SensorData)

  • latitude
  • longitude
  • altitude

carla.ObstacleDetectionSensorEvent(carla.SensorData)

  • actor
  • other_actor
  • distance

carla.VehicleControl

  • throttle
  • steer
  • brake
  • hand_brake
  • reverse
  • __eq__(other)
  • __ne__(other)

carla.Map

  • name
  • get_spawn_points()
  • get_waypoint(location, project_to_road=True)
  • get_topology()
  • generate_waypoints(distance)
  • to_opendrive()
  • save_to_disk(path=self.name)

carla.Waypoint

  • transform
  • is_intersection
  • lane_width
  • road_id
  • lane_id
  • next(distance)

carla.WeatherParameters

  • cloudyness
  • precipitation
  • precipitation_deposits
  • wind_intensity
  • sun_azimuth_angle
  • sun_altitude_angle
  • __eq__(other)
  • __ne__(other)

Static presets

  • carla.WeatherParameters.ClearNoon
  • carla.WeatherParameters.CloudyNoon
  • carla.WeatherParameters.WetNoon
  • carla.WeatherParameters.WetCloudyNoon
  • carla.WeatherParameters.MidRainyNoon
  • carla.WeatherParameters.HardRainNoon
  • carla.WeatherParameters.SoftRainNoon
  • carla.WeatherParameters.ClearSunset
  • carla.WeatherParameters.CloudySunset
  • carla.WeatherParameters.WetSunset
  • carla.WeatherParameters.WetCloudySunset
  • carla.WeatherParameters.MidRainSunset
  • carla.WeatherParameters.HardRainSunset
  • carla.WeatherParameters.SoftRainSunset

carla.Vector3D

  • x
  • y
  • z
  • __add__(other)
  • __sub__(other)
  • __eq__(other)
  • __ne__(other)

carla.Location

  • x
  • y
  • z
  • distance(other)
  • __add__(other)
  • __sub__(other)
  • __eq__(other)
  • __ne__(other)

carla.Rotation

  • pitch
  • yaw
  • roll
  • get_forward_vector()
  • __eq__(other)
  • __ne__(other)

carla.Transform

  • location
  • rotation
  • transform(geom_object)
  • get_forward_vector()
  • __eq__(other)
  • __ne__(other)

carla.BoundingBox

  • location
  • extent
  • __eq__(other)
  • __ne__(other)

carla.Timestamp

  • frame_count
  • elapsed_seconds
  • delta_seconds
  • platform_timestamp
  • __eq__(other)
  • __ne__(other)

carla.Color

  • r
  • g
  • b
  • a
  • __eq__(other)
  • __ne__(other)

carla.ColorConverter

  • Raw
  • Depth
  • LogarithmicDepth
  • CityScapesPalette

carla.ActorAttributeType

  • Bool
  • Int
  • Float
  • RGBColor

carla.TrafficLightState

  • Red
  • Yellow
  • Green
  • Off
  • Unknown

carla.LaneMarking

  • Other
  • Broken
  • Solid