carla/PythonAPI/docs/commands.yml

---
- module_name: command

  classes:
  - class_name: Response
    # - DESCRIPTION ------------------------
    doc: >
      States the result of executing a command as either the ID of the actor to whom the command was applied to (when succeeded) or an error string (when failed). 
      actor ID, depending on whether or not the command succeeded. The method __<font color="#7fb800">apply_batch_sync()</font>__ in carla.Client returns a list of these to summarize the execution of a batch. 
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: actor_id
      type: int
      doc: >
        Actor to whom the command was applied to. States that the command was successful.
    - var_name: error
      type: str
      doc: >
        A string stating the command has failed. 
    # - METHODS ----------------------------
    methods:
    - def_name: has_error
      return: bool
      params:
      doc: >
        Returns <b>True</b> if the command execution fails, and <b>False</b> if it was successful. 
    # --------------------------------------

  - class_name: SpawnActor
    # - DESCRIPTION ------------------------
    doc: >
      Command adaptation of __<font color="#7fb800">spawn_actor()</font>__ in carla.World. Spawns an actor into the world based on the blueprint provided and the transform. If a parent is provided, the actor is attached to it.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: transform
      type: carla.Transform
      doc: >
        Transform to be applied. 
    - var_name: parent_id
      type: int
      doc: >
        Identificator of the parent actor.
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
    # --------------------------------------
    - def_name: __init__
      params:
      - param_name: blueprint
        type: carla.ActorBlueprint
      - param_name: transform
        type: carla.Transform
    # --------------------------------------
    - def_name: __init__
      params:
      - param_name: blueprint
        type: carla.ActorBlueprint
      - param_name: transform
        type: carla.Transform
      - param_name: parent
        type: carla.Actor or int     
    # --------------------------------------
    - def_name: then
      params:
      - param_name: command
        type: any carla Command
        doc: > 
          a Carla command.
      doc: >
        Links another command to be executed right after. It allows to ease very common flows such as spawning a set of vehicles by command and then using this method to set them to autopilot automatically.  
    # --------------------------------------

  - class_name: DestroyActor
    # - DESCRIPTION ------------------------
    doc: >
      Command adaptation of __<font color="#7fb800">destroy()</font>__ in carla.Actor that tells the simulator to destroy this actor. It has no effect if the actor was already destroyed. When executed with __<font color="#7fb800">apply_batch_sync()</font>__ in carla.Client there will be a <b>command.Response</b> that will return a boolean stating whether the actor was successfully destroyed.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: actor_id
      type: int
      doc: >
        Actor affected by the command
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: actor
        type: carla.Actor or int
        doc: > 
          Actor or its ID to whom the command will be applied to. 
    # --------------------------------------

  - class_name: ApplyVehiclePhysicsControl
    # - DESCRIPTION ------------------------
    doc: >
      Command adaptation of __<font color="#7fb800">apply_physics_control()</font>__ in carla.Vehicle. Applies a new physics control to a vehicle,
      modifying its physical parameters.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: actor_id
      type: int
      doc: >
        Vehicle actor affected by the command.
    - var_name: control
      type: carla.VehiclePhysicsControl
      doc: >
        Physics control to be applied.
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: actor
        type: carla.Actor or int
        doc: > 
          Actor or its ID to whom the command will be applied to. 
      - param_name: control
        type: carla.VehiclePhysicsControl
    # --------------------------------------

  - class_name: ApplyVehicleControl
    # - DESCRIPTION ------------------------
    doc: >
      Command adaptation of __<font color="#7fb800">apply_control()</font>__ in carla.Vehicle. Applies a certain control to a vehicle.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: actor_id
      type: int
      doc: >
        Vehicle actor affected by the command.
    - var_name: control
      type: carla.VehicleControl
      doc: >
        Vehicle control to be applied.
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: actor
        type: carla.Actor or int
        doc: > 
          Actor or its ID to whom the command will be applied to. 
      - param_name: control
        type: carla.VehicleControl
    # --------------------------------------

  - class_name: ApplyWalkerControl
    # - DESCRIPTION ------------------------
    doc: >
      Command adaptation of __<font color="#7fb800">apply_control()</font>__ in carla.Walker. Applies a control to a walker.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: actor_id
      type: int
      doc: >
        Walker actor affected by the command. 
    - var_name: control
      type: carla.WalkerControl
      doc: >
        Walker control to be applied. 
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: actor
        type: carla.Actor or int
        doc: > 
          Actor or its ID to whom the command will be applied to. 
      - param_name: control
        type: carla.WalkerControl
    # --------------------------------------

  - class_name: ApplyTransform
    # - DESCRIPTION ------------------------
    doc: >
      Command adaptation of __<font color="#7fb800">set_transform()</font>__ in carla.Actor. Sets a new transform to an actor. 
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: actor_id
      type: int
      doc: >
        Actor affected by the command.
    - var_name: transform
      type: carla.Transform
      doc: >
        Transformation to be applied.
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: actor
        type: carla.Actor or int
        doc: > 
          Actor or its ID to whom the command will be applied to. 
      - param_name: transform
        type: carla.Transform
    # --------------------------------------

  - class_name: ApplyWalkerState
    # - DESCRIPTION ------------------------
    doc: >
      Apply a state to the walker actor. Specially useful to initialize an actor them with a specific location, orientation and speed. 
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: actor_id
      type: int
      doc: >
        Walker actor affected by the command. 
    - var_name: transform
      type: carla.Transform
      doc: >
        Transform to be applied.
    - var_name: speed
      type: float
      var_units: m/s
      doc: >
        Speed to be applied.
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: actor
        type: carla.Actor or int
        doc: > 
          Actor or its ID to whom the command will be applied to. 
      - param_name: transform
        type: carla.Transform
      - param_name: speed
        type: float
        param_units: m/s
    # --------------------------------------

  - class_name: ApplyTargetVelocity
    # - DESCRIPTION ------------------------
    doc: >
      Command adaptation of __<font color="#7fb800">set_target_velocity()</font>__ in carla.Actor.  
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: actor_id
      type: int
      doc: >
        Actor affected by the command.
    - var_name: velocity
      type: carla.Vector3D
      var_units: m/s
      doc: >
        The 3D velocity applied to the actor.
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: actor
        type: carla.Actor or int
        doc: > 
          Actor or its ID to whom the command will be applied to. 
      - param_name: velocity
        type: carla.Vector3D
        param_units: m/s
        doc: > 
          Velocity vector applied to the actor. 
    # --------------------------------------

  - class_name: ApplyTargetAngularVelocity
    # - DESCRIPTION ------------------------
    doc: >
      Command adaptation of __<font color="#7fb800">set_target_angular_velocity()</font>__ in carla.Actor. Sets the actor's angular velocity vector.  
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: actor_id
      type: int
      doc: >
        Actor affected by the command. 
    - var_name: angular_velocity
      type: carla.Vector3D
      var_units: deg/s
      doc: >
        The 3D angular velocity that will be applied to the actor. 
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: actor
        type: carla.Actor or int
        doc: > 
          Actor or its ID to whom the command will be applied to. 
      - param_name: angular_velocity
        type: carla.Vector3D
        param_units: deg/s
        doc: > 
          Angular velocity vector applied to the actor. 
    # --------------------------------------

  - class_name: ApplyImpulse
    # - DESCRIPTION ------------------------
    doc: >
      Command adaptation of __<font color="#7fb800">add_impulse()</font>__ in carla.Actor. Applies an impulse to an actor.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: actor_id
      type: int
      doc: >
        Actor affected by the command. 
    - var_name: impulse
      type: carla.Vector3D
      var_units: N*s
      doc: >
        Impulse applied to the actor. 
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: actor
        type: carla.Actor or int
        doc: > 
          Actor or its ID to whom the command will be applied to. 
      - param_name: impulse
        type: carla.Vector3D
        param_units: N*s
    # --------------------------------------

  - class_name: ApplyForce
    # - DESCRIPTION ------------------------
    doc: >
      Command adaptation of __<font color="#7fb800">add_force()</font>__ in carla.Actor. Applies a force to an actor.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: actor_id
      type: int
      doc: >
        Actor affected by the command. 
    - var_name: force
      type: carla.Vector3D
      doc: >
        Force applied to the actor over time. 
      var_units: N
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: actor
        type: carla.Actor or int
        doc: > 
          Actor or its ID to whom the command will be applied to. 
      - param_name: force
        type: carla.Vector3D
        param_units: N 
    # --------------------------------------

  - class_name: ApplyAngularImpulse
    # - DESCRIPTION ------------------------
    doc: >
      Command adaptation of __<font color="#7fb800">add_angular_impulse()</font>__ in carla.Actor. Applies an angular impulse to an actor.  
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: actor_id
      type: int
      doc: >
        Actor affected by the command.
    - var_name: impulse
      type: carla.Vector3D
      var_units: degrees*s
      doc: >
        Angular impulse applied to the actor.
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: actor
        type: carla.Actor or int
        doc: > 
          Actor or its ID to whom the command will be applied to. 
      - param_name: impulse
        type: carla.Vector3D
        param_units: degrees*s
    # --------------------------------------

  - class_name: ApplyTorque
    # - DESCRIPTION ------------------------
    doc: >
      Command adaptation of __<font color="#7fb800">add_torque()</font>__ in carla.Actor. Applies a torque to an actor.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: actor_id
      type: int
      doc: >
        Actor affected by the command. 
    - var_name: torque
      type: carla.Vector3D
      doc: >
        Torque applied to the actor over time. 
      var_units: degrees
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: actor
        type: carla.Actor or int
        doc: > 
          Actor or its ID to whom the command will be applied to. 
      - param_name: torque
        type: carla.Vector3D
        param_units: degrees
    # --------------------------------------

  - class_name: SetSimulatePhysics
    # - DESCRIPTION ------------------------
    doc: >
      Command adaptation of __<font color="#7fb800">set_simulate_physics()</font>__ in carla.Actor. Determines whether an actor will be affected by physics or not.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: actor_id
      type: int
      doc: >
        Actor affected by the command. 
    - var_name: enabled
      type: bool
      doc: >
        If physics should be activated or not. 
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: actor
        type: carla.Actor or int
        doc: > 
          Actor or its ID to whom the command will be applied to. 
      - param_name: enabled
        type: bool
    # --------------------------------------

  - class_name: SetAutopilot
    # - DESCRIPTION ------------------------
    doc: >
      Command adaptation of __<font color="#7fb800">set_autopilot()</font>__ in carla.Vehicle. Turns on/off the vehicle's autopilot mode.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: actor_id
      type: int
      doc: >
        Actor that is affected by the command.
    - var_name: enabled
      type: bool
      doc: >
        If autopilot should be activated or not.
    - var_name: port
      type: uint16
      doc: >
        Port of the Traffic Manager where the vehicle is to be registered or unlisted. 
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: actor
        type: carla.Actor or int
        doc: > 
          Actor or its ID to whom the command will be applied to. 
      - param_name: enabled
        type: bool
      - param_name: port
        type: uint16
        default: 8000
        doc: >
          The Traffic Manager port where the vehicle is to be registered or unlisted. If __None__ is passed, it will consider a TM at default port `8000`. 
    # --------------------------------------

  - class_name: SetVehicleLightState
    # - DESCRIPTION ------------------------
    doc: >
      Command adaptation of __<font color="#7fb800">set_light_state()</font>__ in carla.Vehicle. Sets the light state of a vehicle.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: actor_id
      type: int
      doc: >
        Actor that is affected by the command.
    - var_name: light_state
      type: carla.VehicleLightState
      doc: >
        Defines the light state of a vehicle.
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: actor
        type: carla.Actor or int
        doc: > 
          Actor or its ID to whom the command will be applied to.
      - param_name: light_state
        type: carla.VehicleLightState
        doc: >
          Recaps the state of the lights of a vehicle, these can be used as a flags.
    # --------------------------------------

  - class_name: SetEnableGravity
    # - DESCRIPTION ------------------------
    doc: >
      Command adaptation of __<font color="#7fb800">set_enable_gravity()</font>__ in carla.Actor. Enables or disables gravity on an actor.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: actor_id
      type: carla.Actor or int
      doc: >
        Actor that is affected by the command.
    - var_name: enabled
      type: bool
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: actor
        type: carla.Actor or int
        doc: > 
          Actor or Actor ID to which the command will be applied to. 
      - param_name: enabled
        type: bool
    # --------------------------------------

  - class_name: ShowDebugTelemetry
    # - DESCRIPTION ------------------------
    doc: >
      Command adaptation of __<font color="#7fb800">show_debug_telemetry()</font>__ in carla.Actor. Displays vehicle control telemetry data.
    # - PROPERTIES -------------------------
    instance_variables:
    - var_name: actor_id
      type: carla.Actor or int
      doc: >
        Actor that is affected by the command.
    - var_name: enabled
      type: bool
    # - METHODS ----------------------------
    methods:
    - def_name: __init__
      params:
      - param_name: actor
        type: carla.Actor or int
        doc: > 
          Actor or Actor ID to which the command will be applied to. 
      - param_name: enabled
        type: bool
    # --------------------------------------
...