Snippet for carla.World.enable_environment_objects

```py # This recipe turn visibility off and on for two specifc buildings on the map # Get the buildings in the world world = client.get_world() env_objs = world.get_environment_objects(carla.CityObjectLabel.Buildings) # Access individual building IDs and save in a set building_01 = env_objs[0] building_02 = env_objs[1] objects_to_toggle = {building_01.id, building_02.id} # Toggle buildings off world.enable_environment_objects(objects_to_toggle, False) # Toggle buildings on world.enable_environment_objects(objects_to_toggle, True) ```

Snippet for carla.DebugHelper.draw_string

```py # This recipe is a modification of lane_explorer.py example. # It draws the path of an actor through the world, printing information at each waypoint. # ... current_w = map.get_waypoint(vehicle.get_location()) while True: next_w = map.get_waypoint(vehicle.get_location(), lane_type=carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk ) # Check if the vehicle is moving if next_w.id != current_w.id: vector = vehicle.get_velocity() # Check if the vehicle is on a sidewalk if current_w.lane_type == carla.LaneType.Sidewalk: draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else red, 60) else: draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else green, 60) debug.draw_string(current_w.transform.location, str('%15.0f km/h' % (3.6 * math.sqrt(vector.x**2 + vector.y**2 + vector.z**2))), False, orange, 60) draw_transform(debug, current_w.transform, white, 60) # Update the current waypoint and sleep for some time current_w = next_w time.sleep(args.tick_time) # ... ```

Snippet for carla.World.unload_map_layer

```py # This recipe toggles off several layers in our "_Opt" maps # Load town one with minimum layout (roads, sidewalks, traffic lights and traffic signs) # as well as buildings and parked vehicles world = client.load_world('Town01_Opt', carla.MapLayer.Buildings | carla.MapLayer.ParkedVehicles) # Toggle all buildings off world.unload_map_layer(carla.MapLayer.Buildings) # Toggle all parked vehicles off world.unload_map_layer(carla.MapLayer.ParkedVehicles) ```

Snippet for carla.Vehicle.set_wheel_steer_direction

```py # Sets the appearance of the vehicles front wheels to 40°. Vehicle physics will not be affected. vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FR_Wheel, 40.0) vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FL_Wheel, 40.0) ```

Snippet for carla.Client.__init__

```py # This recipe shows in every script provided in PythonAPI/Examples # and it is used to parse the client creation arguments when running the script. argparser = argparse.ArgumentParser( description=__doc__) argparser.add_argument( '--host', metavar='H', default='127.0.0.1', help='IP of the host server (default: 127.0.0.1)') argparser.add_argument( '-p', '--port', metavar='P', default=2000, type=int, help='TCP port to listen to (default: 2000)') argparser.add_argument( '-s', '--speed', metavar='FACTOR', default=1.0, type=float, help='rate at which the weather changes (default: 1.0)') args = argparser.parse_args() speed_factor = args.speed update_freq = 0.1 / speed_factor client = carla.Client(args.host, args.port) ```

Snippet for carla.Map.get_waypoint

```py # This recipe shows the current traffic rules affecting the vehicle. # Shows the current lane type and if a lane change can be done in the actual lane or the surrounding ones. # ... waypoint = world.get_map().get_waypoint(vehicle.get_location(),project_to_road=True, lane_type=(carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk)) print("Current lane type: " + str(waypoint.lane_type)) # Check current lane change allowed print("Current Lane change: " + str(waypoint.lane_change)) # Left and Right lane markings print("L lane marking type: " + str(waypoint.left_lane_marking.type)) print("L lane marking change: " + str(waypoint.left_lane_marking.lane_change)) print("R lane marking type: " + str(waypoint.right_lane_marking.type)) print("R lane marking change: " + str(waypoint.right_lane_marking.lane_change)) # ... ```

Snippet for carla.World.spawn_actor

```py # This recipe attaches different camera / sensors to a vehicle with different attachments. # ... camera = world.spawn_actor(rgb_camera_bp, transform, attach_to=vehicle, attachment_type=Attachment.Rigid) # Default attachment: Attachment.Rigid gnss_sensor = world.spawn_actor(sensor_gnss_bp, transform, attach_to=vehicle) collision_sensor = world.spawn_actor(sensor_collision_bp, transform, attach_to=vehicle) lane_invasion_sensor = world.spawn_actor(sensor_lane_invasion_bp, transform, attach_to=vehicle) # ... ```

Snippet for carla.WalkerAIController.stop

```py #To destroy the pedestrians, stop them from the navigation, and then destroy the objects (actor and controller). # stop pedestrians (list is [controller, actor, controller, actor ...]) for i in range(0, len(all_id), 2): all_actors[i].stop() # destroy pedestrian (actor and controller) client.apply_batch([carla.command.DestroyActor(x) for x in all_id]) ```

Snippet for carla.DebugHelper.draw_box

```py # This recipe shows how to draw traffic light actor bounding boxes from a world snapshot. # .... debug = world.debug world_snapshot = world.get_snapshot() for actor_snapshot in world_snapshot: actual_actor = world.get_actor(actor_snapshot.id) if actual_actor.type_id == 'traffic.traffic_light': debug.draw_box(carla.BoundingBox(actor_snapshot.get_transform().location,carla.Vector3D(0.5,0.5,2)),actor_snapshot.get_transform().rotation, 0.05, carla.Color(255,0,0,0),0) # ... ```

Snippet for carla.World.get_spectator

```py # This recipe spawns an actor and the spectator camera at the actor's location. # ... world = client.get_world() spectator = world.get_spectator() vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*')) transform = random.choice(world.get_map().get_spawn_points()) vehicle = world.try_spawn_actor(vehicle_bp, transform) # Wait for world to get the vehicle actor world.tick() world_snapshot = world.wait_for_tick() actor_snapshot = world_snapshot.find(vehicle.id) # Set spectator at given transform (vehicle transform) spectator.set_transform(actor_snapshot.get_transform()) # ... ```

Snippet for carla.Sensor.listen

```py # This recipe applies a color conversion to the image taken by a camera sensor, # so it is converted to a semantic segmentation image. # ... camera_bp = world.get_blueprint_library().filter('sensor.camera.semantic_segmentation') # ... cc = carla.ColorConverter.CityScapesPalette camera.listen(lambda image: image.save_to_disk('output/%06d.png' % image.frame, cc)) # ... ```

Snippet for carla.TrafficLight.set_state

```py # This recipe changes from red to green the traffic light that affects the vehicle. # This is done by detecting if the vehicle actor is at a traffic light. # ... world = client.get_world() spectator = world.get_spectator() vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*')) transform = random.choice(world.get_map().get_spawn_points()) vehicle = world.try_spawn_actor(vehicle_bp, transform) # Wait for world to get the vehicle actor world.tick() world_snapshot = world.wait_for_tick() actor_snapshot = world_snapshot.find(vehicle.id) # Set spectator at given transform (vehicle transform) spectator.set_transform(actor_snapshot.get_transform()) # ...# ... if vehicle_actor.is_at_traffic_light(): traffic_light = vehicle_actor.get_traffic_light() if traffic_light.get_state() == carla.TrafficLightState.Red: # world.hud.notification("Traffic light changed! Good to go!") traffic_light.set_state(carla.TrafficLightState.Green) # ... ```

Snippet for carla.ActorBlueprint.set_attribute

```py # This recipe changes attributes of different type of blueprint actors. # ... walker_bp = world.get_blueprint_library().filter('walker.pedestrian.0002') walker_bp.set_attribute('is_invincible', True) # ... # Changes attribute randomly by the recommended value vehicle_bp = wolrd.get_blueprint_library().filter('vehicle.bmw.*') color = random.choice(vehicle_bp.get_attribute('color').recommended_values) vehicle_bp.set_attribute('color', color) # ... camera_bp = world.get_blueprint_library().filter('sensor.camera.rgb') camera_bp.set_attribute('image_size_x', 600) camera_bp.set_attribute('image_size_y', 600) # ... ```

Snippet for carla.Client.apply_batch_sync

```py # 0. Choose a blueprint fo the walkers world = client.get_world() blueprintsWalkers = world.get_blueprint_library().filter("walker.pedestrian.*") walker_bp = random.choice(blueprintsWalkers) # 1. Take all the random locations to spawn spawn_points = [] for i in range(50): spawn_point = carla.Transform() spawn_point.location = world.get_random_location_from_navigation() if (spawn_point.location != None): spawn_points.append(spawn_point) # 2. Build the batch of commands to spawn the pedestrians batch = [] for spawn_point in spawn_points: walker_bp = random.choice(blueprintsWalkers) batch.append(carla.command.SpawnActor(walker_bp, spawn_point)) # 2.1 apply the batch results = client.apply_batch_sync(batch, True) for i in range(len(results)): if results[i].error: logging.error(results[i].error) else: walkers_list.append({"id": results[i].actor_id}) # 3. Spawn walker AI controllers for each walker batch = [] walker_controller_bp = world.get_blueprint_library().find('controller.ai.walker') for i in range(len(walkers_list)): batch.append(carla.command.SpawnActor(walker_controller_bp, carla.Transform(), walkers_list[i]["id"])) # 3.1 apply the batch results = client.apply_batch_sync(batch, True) for i in range(len(results)): if results[i].error: logging.error(results[i].error) else: walkers_list[i]["con"] = results[i].actor_id # 4. Put altogether the walker and controller ids for i in range(len(walkers_list)): all_id.append(walkers_list[i]["con"]) all_id.append(walkers_list[i]["id"]) all_actors = world.get_actors(all_id) # wait for a tick to ensure client receives the last transform of the walkers we have just created world.wait_for_tick() # 5. initialize each controller and set target to walk to (list is [controller, actor, controller, actor ...]) for i in range(0, len(all_actors), 2): # start walker all_actors[i].start() # set walk to random point all_actors[i].go_to_location(world.get_random_location_from_navigation()) # random max speed all_actors[i].set_max_speed(1 + random.random()) # max speed between 1 and 2 (default is 1.4 m/s) ```