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()
• get_available_maps()
• reload_world()
• load_world(map_name)
• start_recorder(string filename)
• replay_file(string filename, float start, float duration, int camera_follow_id)
• show_recorder_file_info(string filename)
• show_recorder_collisions(string filename, char category1, char category2)
• show_recorder_actors_blocked(string filename, float min_time, float min_distance)
• set_replayer_speed(float time_factor)
• apply_batch(commands, do_tick=False)
• apply_batch_sync(commands, do_tick=False) -> list(carla.command.Response)

carla.World

• id
• debug
• get_blueprint_library()
• get_map()
• get_spectator()
• get_settings()
• apply_settings(world_settings) -> int (id of the frame when the settings took effect)
• get_weather()
• set_weather(weather_parameters)
• get_snapshot() -> carla.WorldSnapshot
• get_actor(actor_id) -> carla.Actor
• get_actors(actor_ids=None) -> carla.ActorList
• spawn_actor(blueprint, transform, attach_to=None)
• try_spawn_actor(blueprint, transform, attach_to=None, attachment_type=carla.AttachmentType.Rigid)
• wait_for_tick(seconds=1.0) -> carla.WorldSnapshot
• on_tick(callback)
• tick() -> int (id of the newly started frame)

carla.WorldSettings

• synchronous_mode
• no_rendering_mode
• __eq__(other)
• __ne__(other)

carla.WorldSnapshot

• id
• frame
• timestamp
• frame_count deprecated, use timestamp instead
• elapsed_seconds deprecated, use timestamp instead
• delta_seconds deprecated, use timestamp instead
• platform_timestamp deprecated, use timestamp instead
• has_actor(actor_id) -> bool
• find(actor_id) -> carla.ActorSnapshot
• __len()__
• __iter()__
• __eq(other)__
• __ne(other)__

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_angular_velocity()
• get_acceleration()
• set_location(location)
• set_transform(transform)
• set_velocity(vector)
• set_angular_velocity(vector)
• add_impulse(vector)
• set_simulate_physics(enabled=True)
• destroy()
• __str__()

carla.ActorSnapshot

• id
• get_location()
• get_transform()
• get_velocity()
• get_angular_velocity()
• get_acceleration()
• __str__()

carla.Vehicle(carla.Actor)

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

carla.TrafficSign(carla.Actor)

• trigger_volume -> carla.BoundingBox

carla.TrafficLight(carla.TrafficSign)

• 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()
• get_pole_index()
• get_group_traffic_lights()

carla.Sensor(carla.Actor)

• is_listening
• listen(callback_function)
• stop()

carla.SensorData

• frame
• frame_number deprecated, use frame instead
• timestamp
• 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
• gear
• manual_gear_shift
• __eq__(other)
• __ne__(other)

carla.WheelPhysicsControl

• tire_friction
• damping_rate
• max_steer_angle
• radius
• max_brake_torque
• max_handbrake_torque
• position
• __eq__(other)
• __ne__(other)

carla.GearPhysicsControl

• ratio
• down_ratio
• up_ratio
• __eq__(other)
• __ne__(other)

carla.VehiclePhysicsControl

• torque_curve
• max_rpm
• moi
• damping_rate_full_throttle
• damping_rate_zero_throttle_clutch_engaged
• damping_rate_zero_throttle_clutch_disengaged
• use_gear_autobox
• gear_switch_time
• clutch_strength
• final_ratio
• forward_gears
• mass
• drag_coefficient
• center_of_mass
• steering_curve
• wheels
• __eq__(other)
• __ne__(other)

carla.WalkerControl

• direction
• speed
• jump
• __eq__(other)
• __ne__(other)

carla.WalkerBoneControl

• bone_transforms

carla.Map

• __init__(name, xodr_content)
• name
• get_spawn_points()
• get_waypoint(location, project_to_road=True, lane_type=carla.LaneType.Driving)
• get_topology()
• generate_waypoints(distance)
• transform_to_geolocation(location)
• to_opendrive()
• save_to_disk(path=self.name)

carla.LaneType

• NONE
• Driving
• Stop
• Shoulder
• Biking
• Sidewalk
• Border
• Restricted
• Parking
• Bidirectional
• Median
• Special1
• Special2
• Special3
• RoadWorks
• Tram
• Rail
• Entry
• Exit
• OffRamp
• OnRamp
• Any

carla.LaneChange

• NONE
• Right
• Left
• Both

carla.LaneMarkingColor

• Standard = White
• Blue
• Green
• Red
• White
• Yellow
• Other

carla.LaneMarkingType

• NONE
• Other
• Broken
• Solid
• SolidSolid
• SolidBroken
• BrokenSolid
• BrokenBroken
• BottsDots
• Grass
• Curb

carla.LaneMarking

• type -> carla.LaneMarking
• color -> carla.RoadMarkColor
• lane_change -> carla.LaneChange
• width

carla.Waypoint

• id
• transform
• is_intersection deprecated, use is_junction instead
• is_junction
• lane_width
• road_id
• section_id
• lane_id
• junction_id
• s
• lane_change -> carla.LaneChange
• lane_type -> carla.LaneType
• right_lane_marking -> carla.LaneMarking
• left_lane_marking -> carla.LaneMarking
• next(distance) -> list(carla.Waypoint)
• get_right_lane() -> carla.Waypoint
• get_left_lane() -> carla.Waypoint

carla.WeatherParameters

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

Static presets

• carla.WeatherParameters.Default
• 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.Vector2D

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

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.GeoLocation

• latitude
• longitude
• altitude
• __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
• frame_count deprecated, use frame instead
• 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.AttachmentType

• Rigid
• SpringArm

carla.ActorAttributeType

• Bool
• Int
• Float
• RGBColor

carla.TrafficLightState

• Red
• Yellow
• Green
• Off
• Unknown

carla.LaneMarking

• Other
• Broken
• Solid

module carla.command

carla.command.FutureActor (not yet spawned actor handler)

carla.command.Response

• actor_id
• error -> str|empty
• has_error()

carla.command.SpawnActor

• __init__(blueprint, transform, parent=None)
• then(command)

carla.command.DestroyActor

• __init__(actor)
• actor_id

carla.command.ApplyVehicleControl

• __init__(actor, control)
• actor_id
• control

carla.command.ApplyWalkerControl

• __init__(actor, control)
• actor_id
• control

carla.command.ApplyTransform

• __init__(actor, transform)
• actor_id
• transform

carla.command.ApplyWalkerState

• __init__(actor, transform, speed)
• actor_id
• transform
• speed

carla.command.ApplyVelocity

• __init__(actor, velocity)
• actor_id
• velocity

carla.command.ApplyAngularVelocity

• __init__(actor, angular_velocity)
• actor_id
• angular_velocity

carla.command.ApplyImpulse

• __init__(actor, impulse)
• actor_id
• impulse

carla.command.SetSimulatePhysics

• __init__(actor, bool)
• actor_id
• enabled

carla.command.SetAutopilot

• __init__(actor, bool)
• actor_id
• enabled