carla/Docs/python_api.md

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
• get_blueprint_library()
• 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.BlueprintLibrary

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

carla.ActorBlueprint

• id
• tags
• contains_tag(tag)
• match_tags(wildcard_pattern)
• contains_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__()
• __ne__()
• __nonzero__()
• __bool__()
• __int__()
• __float__()
• __str__()

carla.ActorList

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

carla.Actor

• id
• type_id
• bounding_box
• is_alive
• get_world()
• get_location()
• get_transform()
• get_velocity()
• get_acceleration()
• set_location(location)
• set_transform(transform)
• destroy()

carla.Vehicle(carla.Actor)

• control
• apply_control(vehicle_control)
• set_autopilot(enabled=True)

carla.Sensor(carla.Actor)

• is_listening
• listen(callback_function)
• stop()

carla.Image

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

carla.LidarMeasurement

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

carla.VehicleControl

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

carla.WeatherParameters

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

carla.Location

• x
• y
• z

carla.Rotation

• pitch
• yaw
• roll

carla.Transform

• location
• rotation

carla.Color

• r
• g
• b
• a

carla.ColorConverter

• None
• Depth
• LogarithmicDepth
• CityScapesPalette