A class that contains the blueprints provided for actor spawning. Its main application is to return carla.ActorBlueprint objects needed to spawn actors. Each blueprint has an identifier and attributes that may or may not be modifiable. The library is automatically created by the server and can be accessed through carla.World.

Here is a reference containing every available blueprint and its specifics.

Methods

- **filter**(**self**, **wildcard_pattern**) Filters a list of blueprints matching the `wildcard_pattern` against the id and tags of every blueprint contained in this library and returns the result as a new one. Matching follows [fnmatch](https://docs.python.org/2/library/fnmatch.html) standard. - **Parameters:** - `wildcard_pattern` (_str_) - **Return:** _[carla.BlueprintLibrary](#carla.BlueprintLibrary)_ - **find**(**self**, **id**) Returns the blueprint corresponding to that identifier. - **Parameters:** - `id` (_str_) - **Return:** _[carla.ActorBlueprint](#carla.ActorBlueprint)_

Dunder methods

- **\__getitem__**(**self**, **pos**=int) Returns the blueprint stored in `pos` position inside the data structure containing them. - **Return:** _[carla.ActorBlueprint](#carla.ActorBlueprint)_ - **\__iter__**(**self**) Method that allows iteration within the blueprints provided. - **\__len__**(**self**) Returns the amount of blueprints comprising the library. - **Return:** _int_ - **\__str__**(**self**) Parses the identifiers for every blueprint to string. - **Return:** _string_

carla.BoundingBox

Helper class defining a box location and its dimensions that will later be used by carla.DebugHelper or a carla.Client to draw shapes and detect collisions. Bounding boxes normally act for object colliders. Check out this recipe where the user takes a snapshot of the world and then proceeds to draw bounding boxes for traffic lights.

Instance Variables

- **extent** (_[carla.Vector3D](#carla.Vector3D)_) Vector from the center of the box to one vertex. The value in each axis equals half the size of the box for that axis. `extent.x * 2` would return the size of the box in the X-axis. - **location** (_[carla.Location](#carla.Location)_) The center of the bounding box relative to its parent actor.

Methods

- **\__init__**(**self**, **location**, **extent**) - **Parameters:** - `location` (_[carla.Location](#carla.Location)_) – Point to center the box. - `extent` (_[carla.Vector3D](#carla.Vector3D)_) – Vector containing half the size of the box for every axis. - **contains**(**self**, **world_point**, **transform**) Returns **True** if a point passed in world space is inside this bounding box. - **Parameters:** - `world_point` (_[carla.Location](#carla.Location)_) – The point in world space to be checked. - `transform` (_[carla.Transform](#carla.Transform)_) – Contains location and rotation needed to convert this object's local space to world space. - **Return:** _bool_ - **get_local_vertices**(**self**) Returns a list containing the locations of this object's vertices in local space. - **Return:** _list([carla.Location](#carla.Location))_ - **get_world_vertices**(**self**, **transform**) Returns a list containing the locations of this object's vertices in world space. - **Parameters:** - `transform` (_[carla.Transform](#carla.Transform)_) – Contains location and rotation needed to convert this object's local space to world space. - **Return:** _list([carla.Location](#carla.Location))_

Dunder methods

- **\__eq__**(**self**, **other**=[carla.BoundingBox](#carla.BoundingBox)) Returns true if both location and extent are equal for this and `other`. - **Return:** _bool_ - **\__ne__**(**self**, **other**=[carla.BoundingBox](#carla.BoundingBox)) Returns true if either location or extent are different for this and `other`. - **Return:** _bool_ - **\__str__**(**self**) Parses the location and extent of the bounding box to string. - **Return:** _str_

carla.Client

The Client connects CARLA to the server which runs the simulation. Both server and client contain a CARLA library (libcarla) with some differences that allow communication between them. Many clients can be created and each of these will connect to the RPC server inside the simulation to send commands. The simulation runs server-side. Once the connection is established, the client will only receive data retrieved from the simulation. Walkers are the exception. The client is in charge of managing pedestrians so, if you are running a simulation with multiple clients, some issues may arise. For example, if you spawn walkers through different clients, collisions may happen, as each client is only aware of the ones it is in charge of.

The client also has a recording feature that saves all the information of a simulation while running it. This allows the server to replay it at will to obtain information and experiment with it. Here is some information about how to use this recorder.

Methods

- **\__init__**(**self**, **host**=127.0.0.1, **port**=2000, **worker_threads**=0) Client constructor. - **Parameters:** - `host` (_str_) – IP address where a CARLA Simulator instance is running. Default is localhost (127.0.0.1). - `port` (_int_) – TCP port where the CARLA Simulator instance is running. Default are 2000 and the subsequent 2001. - `worker_threads` (_int_) – Number of working threads used for background updates. If 0, use all available concurrency. - **apply_batch**(**self**, **commands**) Executes a list of commands on a single simulation step and retrieves no information. If you need information about the response of each command, use the **apply_batch_sync()** function right below this one. [Here](10c5f6a482/PythonAPI/examples/spawn_npc.py (L126)) is an example on how to delete the actors that appear in [carla.ActorList](#carla.ActorList) all at once. - **Parameters:** - `commands` (_list_) – A list of commands to execute in batch. Each command is different and has its own parameters. They appear listed at the bottom of this page. - **apply_batch_sync**(**self**, **commands**, **due_tick_cue**=False) Executes a list of commands on a single simulation step, blocks until the commands are linked, and returns a list of command.Response that can be used to determine whether a single command succeeded or not. [Here](10c5f6a482/PythonAPI/examples/spawn_npc.py (L112-L116)) is an example of it being used to spawn actors. - **Parameters:** - `commands` (_list_) – A list of commands to execute in batch. The commands available are listed right above, in the function **apply_batch()**. - `due_tick_cue` (_bool_) – A boolean parameter to specify whether or not to perform a [carla.World.tick](#carla.World.tick) after applying the batch in _synchronous mode_. It is __False__ by default. - **Return:** _list(command.Response)_ - **generate_opendrive_world**(**self**, **opendrive**, **resolution**, **wall_height**, **additional_width**) Loads a new world with a basic 3D topology generated from the content of an OpenDRIVE file. This content is passed as a `string` parameter. It is similar to `client.load_world(map_name)` but allows for custom OpenDRIVE maps in server side. Cars can drive around the map, but there are no graphics besides the road and sidewalks. - **Parameters:** - `opendrive` (_str_) – Content of an OpenDRIVE file as `string`. - `resolution` (_float_) – Quality of the road mesh, increasing this value can reduce performance (in meters). - `wall_height` (_float_) – Height of a procedural wall that prevents cars from falling outside the map, only generated in non-junction roads (in meters). - `additional_width` (_float_) – Additional lane width to prevent cars from falling outside the map, only generated in junctions (in meters). - **load_world**(**self**, **map_name**) Creates a new world with default settings using `map_name` map. All actors in the current world will be destroyed. - **Parameters:** - `map_name` (_str_) – Name of the map to be used in this world. Accepts both full paths and map names, e.g. '/Game/Carla/Maps/Town01' or 'Town01'. Remember that these paths are dynamic. - **reload_world**(**self**) Reload the current world, note that a new world is created with default settings using the same map. All actors present in the world will be destroyed, __but__ traffic manager instances will stay alive. - **Raises:** RuntimeError when corresponding. - **replay_file**(**self**, **name**, **start**, **duration**, **follow_id**) Load a new world with default settings using `map_name` map. All actors present in the current world will be destroyed, __but__ traffic manager instances will stay alive. - **Parameters:** - `name` (_str_) – Name of the file containing the information of the simulation. - `start` (_float_) – Time in seconds where to start playing the simulation. Negative is read as beginning from the end, being -10 just 10 seconds before the recording finished. - `duration` (_float_) – Time in seconds that will be reenacted using the information `name` file. If the end is reached, the simulation will continue. - `follow_id` (_int_) – ID of the actor to follow. If this is 0 then camera is disabled. - **show_recorder_actors_blocked**(**self**, **filename**, **min_time**, **min_distance**) The terminal will show the information registered for actors considered blocked. An actor is considered blocked when it does not move a minimum distance in a period of time, being these `min_distance` and `min_time`. - **Parameters:** - `filename` (_str_) – Name of the recorded file to load. - `min_time` (_float_) – Minimum time in seconds the actor has to move a minimum distance before being considered blocked. Default is 60 seconds. - `min_distance` (_float_) – Minimum distance in centimeters the actor has to move to not be considered blocked. Default is 100 centimeters. - **Return:** _string_ - **show_recorder_collisions**(**self**, **filename**, **category1**, **category2**) The terminal will show the collisions registered by the recorder. These can be filtered by specifying the type of actor involved. The categories will be specified in `category1` and `category2` as follows: 'h' = Hero, the one vehicle that can be controlled manually or managed by the user. 'v' = Vehicle 'w' = Walker 't' = Traffic light 'o' = Other 'a' = Any If you want to see only collisions between a vehicles and a walkers, use for `category1` as 'v' and `category2` as 'w' or vice versa. If you want to see all the collisions (filter off) you can use 'a' for both parameters. - **Parameters:** - `filename` (_str_) – Name or absolute path of the file recorded, depending on your previous choice. - `category1` (_single char_) – Character variable specifying a first type of actor involved in the collision. - `category2` (_single char_) – Character variable specifying the second type of actor involved in the collision. - **Return:** _string_ - **show_recorder_file_info**(**self**, **filename**, **show_all**=False) The information saved by the recorder will be parsed and shown in your terminal as text (frames, times, events, state, positions...). The information shown can be specified by using the `show_all` parameter. [Here](ref_recorder_binary_file_format.md) is some more information about how to read the recorder file. - **Parameters:** - `filename` (_str_) – Name or absolute path of the file recorded, depending on your previous choice. - `show_all` (_bool_) – When true, will show all the details per frame (traffic light states, positions of all actors, orientation and animation data...), but by default it will only show a summary. - **Return:** _string_ - **start_recorder**(**self**, **filename**) Enables the recording feature, which will start saving every information possible needed by the server to replay the simulation. - **Parameters:** - `filename` (_str_) – Name of the file to write the recorded data. A simple name will save the recording in 'CarlaUE4/Saved/recording.log'. Otherwise, if some folder appears in the name, it will be considered an absolute path. - **stop_recorder**(**self**) Stops the recording in progress. If you specified a path in `filename`, the recording will be there. If not, look inside `CarlaUE4/Saved/`. - **get_available_maps**(**self**) Returns a list of strings containing the paths of the maps available on server. These paths are dynamic, they will be created during the simulation and so you will not find them when looking up in your files. One of the possible returns for this method would be: ['/Game/Carla/Maps/Town01', '/Game/Carla/Maps/Town02', '/Game/Carla/Maps/Town03', '/Game/Carla/Maps/Town04', '/Game/Carla/Maps/Town05', '/Game/Carla/Maps/Town06', '/Game/Carla/Maps/Town07']. - **Return:** _list(str)_ - **get_client_version**(**self**) Returns the client libcarla version by consulting it in the "Version.h" file. Both client and server can use different libcarla versions but some issues may arise regarding unexpected incompatibilities. - **Return:** _str_ - **get_server_version**(**self**) Returns the server libcarla version by consulting it in the "Version.h" file. Both client and server should use the same libcarla version. - **Return:** _str_ - **get_trafficmanager**(**self**, **client_connection**=8000) Returns an instance of the traffic manager related to the specified port. If it does not exist, this will be created. - **Parameters:** - `client_connection` (_int_) – Port that will be used by the traffic manager. Default is `8000`. - **Return:** _[carla.TrafficManager](#carla.TrafficManager)_ - **get_world**(**self**) Returns the world object currently active in the simulation. This world will be later used for example to load maps. - **Return:** _[carla.World](#carla.World)_ - **set_replayer_time_factor**(**self**, **time_factor**=1.0) When used, the time speed of the reenacted simulation is modified at will. It can be used several times while a playback is in curse. - **Parameters:** - `time_factor` (_float_) – 1.0 means normal time speed. Greater than 1.0 means fast motion (2.0 would be double speed) and lesser means slow motion (0.5 would be half speed). - **set_timeout**(**self**, **seconds**) Sets in seconds the maxixum time a network call is allowed before blocking it and raising a timeout exceeded error. - **Parameters:** - `seconds` (_float_) – New timeout value in seconds. Default is 5 seconds.

carla.CollisionEvent

Methods

- **color** (_[carla.LaneMarkingColor](#carla.LaneMarkingColor)_) Actual color of the marking. - **lane_change** (_[carla.LaneChange](#carla.LaneChange)_) Permissions for said lane marking to be crossed. - **type** (_[carla.LaneMarkingType](#carla.LaneMarkingType)_) Lane marking type. - **width** (_float_) Horizontal lane marking thickness.

carla.LaneMarkingColor

Class that defines the lane marking colors according to OpenDRIVE 1.4.

Instance Variables

- **Standard** White by default. - **Blue** - **Green** - **Red** - **White** - **Yellow** - **Other**

Class containing the road information and waypoint managing. Data is retrieved from an OpenDRIVE file that describes the road. A query system is defined which works hand in hand with carla.Waypoint to translate geometrical information from the .xodr to natural world points. CARLA is currently working with OpenDRIVE 1.4 standard.

Instance Variables

- **name** (_str_) The name of the map. It corresponds to the .umap from Unreal Engine that is loaded from a CARLA server, which then references to the .xodr road description.

Methods

- **\__init__**(**self**, **name**, **xodr_content**) Constructor for this class. Though a map is automatically generated when initializing the world, using this method in no-rendering mode facilitates working with an .xodr without any CARLA server running. - **Parameters:** - `name` (_str_) – Name of the current map. - `xodr_content` (_str_) – .xodr content in string format. - **Return:** _list([carla.Transform](#carla.Transform))_ - **generate_waypoints**(**self**, **distance**) Returns a list of waypoints with a certain distance between them for every lane and centered inside of it. Waypoints are not listed in any particular order. Remember that waypoints closer than 2cm within the same road, section and lane will have the same identificator. - **Parameters:** - `distance` (_float_) – Approximate distance between waypoints. - **Return:** _list([carla.Waypoint](#carla.Waypoint))_ - **save_to_disk**(**self**, **path**) Saves the .xodr OpenDRIVE file of the current map to disk. - **Parameters:** - `path` – Path where the file will be saved. - **to_opendrive**(**self**) Returns the .xodr OpenDRIVe file of the current map as string. - **Return:** _str_ - **transform_to_geolocation**(**self**, **location**) Converts a given `location`, a point in the simulation, to a [carla.GeoLocation](#carla.GeoLocation), which represents world coordinates. The geographical location of the map is defined inside OpenDRIVE within the tag . - **Parameters:** - `location` (_[carla.Location](#carla.Location)_) - **Return:** _[carla.GeoLocation](#carla.GeoLocation)_ - **get_spawn_points**(**self**) Returns a list of recommendations made by the creators of the map to be used as spawning points for the vehicles. The list includes [carla.Transform](#carla.Transform) objects with certain location and orientation. Said locations are slightly on-air in order to avoid Z-collisions, so vehicles fall for a bit before starting their way. - **Return:** _list([carla.Transform](#carla.Transform))_ - **get_topology**(**self**) Returns a list of tuples describing a minimal graph of the topology of the OpenDRIVE file. The tuples contain pairs of waypoints located either at the point a road begins or ends. The first one is the origin and the second one represents another road end that can be reached. This graph can be loaded into [NetworkX](https://networkx.github.io/) to work with. Output could look like this: [(w0, w1), (w0, w2), (w1, w3), (w2, w3), (w0, w4)]. - **Return:** _list(tuple([carla.Waypoint](#carla.Waypoint), [carla.Waypoint](#carla.Waypoint)))_ - **get_waypoint**(**self**, **location**, **project_to_road**=True, **lane_type**=[carla.LaneType.Driving](#carla.LaneType.Driving)) Returns a waypoint that can be located in an exact location or translated to the center of the nearest lane. Said lane type can be defined using flags such as `LaneType.Driving & LaneType.Shoulder`. The method will return None if the waypoint is not found, which may happen only when trying to retrieve a waypoint for an exact location. That eases checking if a point is inside a certain road, as otherwise, it will return the corresponding waypoint. - **Parameters:** - `location` (_[carla.Location](#carla.Location)_) – Location used as reference for the [carla.Waypoint](#carla.Waypoint). - `project_to_road` (_bool_) – If **True**, the waypoint will be at the center of the closest lane. This is the default setting. If **False**, the waypoint will be exactly in `location`. None means said location does not belong to a road. - `lane_type` (_[carla.LaneType](#carla.LaneType)_) – Limits the search for nearest lane to one or various lane types that can be flagged. - **Return:** _[carla.Waypoint](#carla.Waypoint)_ - **get_waypoint_xodr**(**self**, **road_id**, **lane_id**, **s**) Get a waypoint if all the parameters passed are correct, otherwise return None. - **Parameters:** - `road_id` (_int_) – Id of the road from where getting the waypoint. - `lane_id` (_int_) – Id of the lane to get the waypoint. - `s` (_float_) – Specify the length from the road start. - **Return:** _[carla.Waypoint](#carla.Waypoint)_

Dunder methods

- **\__str__**(**self**)

carla.ObstacleDetectionEvent

Inherited from _[carla.SensorData](#carla.SensorData)_

Class that defines the obstacle data for sensor.other.obstacle. Learn more about this [here](ref_sensors.md#obstacle-detector).

Instance Variables

- **actor** (_[carla.Actor](#carla.Actor)_) The actor the sensor is attached to. - **other_actor** (_[carla.Actor](#carla.Actor)_) The actor or object considered to be an obstacle. - **distance** (_float_) Distance between `actor` and `other`.

Methods

Dunder methods

- **\__str__**(**self**)

carla.RadarDetection

Data contained inside a carla.RadarMeasurement. Each of these represents one of the points in the cloud that a sensor.other.radar registers and contains the distance, angle and velocity in relation to the radar.

Instance Variables

- **altitude** (_float_) Altitude angle of the detection in radians. - **azimuth** (_float_) Azimuth angle of the detection in radians. - **depth** (_float_) Distance in meters from the sensor to the detection position. - **velocity** (_float_) The velocity of the detected object towards the sensor in m/s.

Methods

Dunder methods

- **\__str__**(**self**)

carla.RadarMeasurement

Inherited from _[carla.SensorData](#carla.SensorData)_

Class that defines and gathers the measures registered by a sensor.other.radar, representing a wall of points in front of the sensor with a distance, angle and velocity in relation to it. The data consists of a [carla.RadarDetection](#carla.RadarDetection) array. Learn more about this [here](ref_sensors.md#radar-sensor).

Instance Variables

- **raw_data** (_bytes_) The complete information of the [carla.RadarDetection](#carla.RadarDetection) the radar has registered.

Methods

- **get_detection_count**(**self**) Retrieves the number of entries generated, same as **\__str__()**.

Dunder methods

- **\__getitem__**(**self**, **pos**=int) - **\__iter__**(**self**) - **\__len__**(**self**) - **\__setitem__**(**self**, **pos**=int, **detection**=[carla.RadarDetection](#carla.RadarDetection)) - **\__str__**(**self**)

carla.Rotation

Class that represents a 3D rotation and therefore, an orientation in space.

Unreal Engine's standard (from UE4 docs).

Instance Variables

- **pitch** (_float_) Degrees around the Y-axis. - **yaw** (_float_) Degrees around the Z-axis. - **roll** (_float_) Degrees around the X-axis.

Methods

- **\__init__**(**self**, **pitch**=0.0, **yaw**=0.0, **roll**=0.0) - **Parameters:** - `pitch` (_float_) – Y rotation in degrees. - `yaw` (_float_) – Z rotation in degrees. - `roll` (_float_) – X rotation in degrees. - **get_forward_vector**(**self**) Computes the vector pointing forward according to the orientation of each axis. - **Return:** _[carla.Vector3D](#carla.Vector3D)_

Dunder methods

- **\__eq__**(**self**, **other**=[carla.Rotation](#carla.Rotation)) Returns __True__ if both rotations represent the same orientation of each axis. - **Return:** _bool_ - **\__ne__**(**self**, **other**=[carla.Rotation](#carla.Rotation)) Returns __True__ if both rotations represent the same orientation for every axis. - **Return:** _bool_ - **\__str__**(**self**) Parses the axis' orientations to string.

carla.Sensor

Inherited from _[carla.Actor](#carla.Actor)_

Sensors compound a specific family of actors quite diverse and unique. They are normally spawned as attachment/sons of a vehicle (take a look at [carla.World](#carla.World) to learn about actor spawning). Sensors are thoroughly designed to retrieve different types of data that they are listening to. The data they receive is shaped as different subclasses inherited from [carla.SensorData](#carla.SensorData) (depending on the sensor).

Most sensors can be divided in two groups: those receiving data on every tick (cameras, point clouds and some specific sensors) and those who only receive under certain circumstances (trigger detectors). CARLA provides a specific set of sensors and their blueprint can be found in carla.BlueprintLibrary. All the information on their preferences and settlement can be found here, but the list of those available in CARLA so far goes as follow:
Receive data on every tick:

Gnss sensor.
IMU sensor.
Radar.
Depth camera.
Lidar raycast.
RGB camera.
Semantic Segmentation camera.
Only receive data when triggered:
Collision detector.
Lane invasion detector.
Obstacle detector.

Instance Variables

- **is_listening** (_boolean_) When True the sensor will be waiting for data.

Methods

- **listen**(**self**, **callback**) The function the sensor will be calling to every time a new measurement is received. This function needs for an argument containing an object type [carla.SensorData](#carla.SensorData) to work with. - **Parameters:** - `callback` (_function_) – The called function with one argument containing the sensor data. - **stop**(**self**) Commands the sensor to stop listening for data.

Dunder methods

- **\__str__**(**self**)

carla.SensorData

Base class for all the objects containing data generated by a carla.Sensor. This objects should be the argument of the function said sensor is listening to, in order to work with them. Each of these sensors needs for a specific type of sensor data. The relation between available sensors and their corresponding data goes like:

Cameras (RGB, depth and semantic segmentation): carla.Image.
Collision detector: carla.CollisionEvent.
Gnss detector: carla.GnssMeasurement.
IMU detector: carla.IMUMeasurement.
Lane invasion detector: carla.LaneInvasionEvent.
Lidar raycast: carla.LidarMeasurement.
Obstacle detector: carla.ObstacleDetectionEvent.
Radar detector: carla.RadarMeasurement.

carla.TrafficManager

The traffic manager is a module built on top of the CARLA API in C++. It handles any group of vehicles set to autopilot mode to populate the simulation with realistic urban traffic conditions and give the chance to user to customize some behaviours. The architecture of the traffic manager is divided in five different goal-oriented stages and a PID controller where the information flows until eventually, a carla.VehicleControl is applied to every vehicle registered in a traffic manager.
In order to learn more, visit the documentation regarding this module.

Methods

- **auto_lane_change**(**self**, **actor**, **enable**) Turns on or off lane changing behaviour for a vehicle. - **Parameters:** - `actor` (_[carla.Actor](#carla.Actor)_) – The vehicle whose settings are changed. - `enable` (_bool_) – __True__ is default and enables lane changes. __False__ will disable them. - **collision_detection**(**self**, **reference_actor**, **other_actor**, **detect_collision**) Tunes on/off collisions between a vehicle and another specific actor. In order to ignore all other vehicles, traffic lights or walkers, use the specific __ignore__ methods described in this same section. - **Parameters:** - `reference_actor` (_[carla.Actor](#carla.Actor)_) – Vehicle that is going to ignore collisions. - `other_actor` (_[carla.Actor](#carla.Actor)_) – The actor that `reference_actor` is going to ignore collisions with. - `detect_collision` (_bool_) – __True__ is default and enables collisions. __False will disable them. - **distance_to_leading_vehicle**(**self**, **actor**, **distance**) Sets the minimum distance in meters that a vehicle has to keep with the others. The distance is in meters and will affect the minimum moving distance. It is computed from front to back of the vehicle objects. - **Parameters:** - `actor` (_[carla.Actor](#carla.Actor)_) – Vehicle whose minimum distance is being changed. - `distance` (_float_) – Meters between both vehicles. - **force_lane_change**(**self**, **actor**, **direction**) Forces a vehicle to change either to the lane on its left or right, if existing, as indicated in `direction`. This method applies the lane change no matter what, disregarding possible collisions. - **Parameters:** - `actor` (_[carla.Actor](#carla.Actor)_) – Vehicle being forced to change lanes. - `direction` (_bool_) – Destination lane. __True__ is the one on the left and __False__ is the right one. - **global_distance_to_leading_vehicle**(**self**, **distance**) Sets the minimum distance in meters that vehicles have to keep with the rest. The distance is in meters and will affect the minimum moving distance. It is computed from center to center of the vehicle objects. - **Parameters:** - `distance` (_float_) – Meters between vehicles. - **global_percentage_speed_difference**(**self**, **percentage**) Sets the difference the vehicle's intended speed and its current speed limit. Speed limits can be exceeded by setting the `perc` to a negative value. Default is 30. Exceeding a speed limit can be done using negative percentages. - **Parameters:** - `percentage` (_float_) – Percentage difference between intended speed and the current limit. - **ignore_lights_percentage**(**self**, **actor**, **perc**) During the traffic light stage, which runs every frame, this method sets the percent chance that traffic lights will be ignored for a vehicle. - **Parameters:** - `actor` (_[carla.Actor](#carla.Actor)_) – The actor that is going to ignore traffic lights. - `perc` (_float_) – Between 0 and 100. Amount of times traffic lights will be ignored. - **ignore_vehicles_percentage**(**self**, **actor**, **perc**) During the collision detection stage, which runs every frame, this method sets a percent chance that collisions with another vehicle will be ignored for a vehicle. - **Parameters:** - `actor` (_[carla.Actor](#carla.Actor)_) – The vehicle that is going to ignore other vehicles. - `perc` (_float_) – Between 0 and 100. Amount of times collisions will be ignored. - **ignore_walkers_percentage**(**self**, **actor**, **perc**) During the collision detection stage, which runs every frame, this method sets a percent chance that collisions with walkers will be ignored for a vehicle. - **Parameters:** - `actor` (_[carla.Actor](#carla.Actor)_) – The vehicle that is going to ignore walkers on scene. - `perc` (_float_) – Between 0 and 100. Amount of times collisions will be ignored. - **reset_traffic_lights**(**self**) Resets every traffic light in the map to its initial state. - **vehicle_percentage_speed_difference**(**self**, **actor**, **percentage**) Sets the difference the vehicle's intended speed and its current speed limit. Speed limits can be exceeded by setting the `perc` to a negative value. Default is 30. Exceeding a speed limit can be done using negative percentages. - **Parameters:** - `actor` (_[carla.Actor](#carla.Actor)_) – Vehicle whose speed behaviour is being changed. - `percentage` (_float_) – Percentage difference between intended speed and the current limit.

carla.TrafficSign

Methods

- **\__init__**(**self**, **x**=0.0, **y**=0.0, **z**=0.0) - **Parameters:** - `x` (_float_) - `y` (_float_) - `z` (_float_)

Dunder methods

- **\__add__**(**self**, **other**=[carla.Vector3D](#carla.Vector3D)) - **\__sub__**(**self**, **other**=[carla.Vector3D](#carla.Vector3D)) - **\__mul__**(**self**, **other**=[carla.Vector3D](#carla.Vector3D)) - **\__truediv__**(**self**, **other**=[carla.Vector3D](#carla.Vector3D)) - **\__eq__**(**self**, **other**=[carla.Vector3D](#carla.Vector3D)) Returns __True__ if values for every axis are equal. - **Return:** _bool_ - **\__ne__**(**self**, **other**=[carla.Vector3D](#carla.Vector3D)) Returns __True__ if the value for any axis is different. - **Return:** _bool_ - **\__str__**(**self**) Returns the axis values for the vector parsed as string. - **Return:** _str_

carla.Vehicle

Inherited from _[carla.Actor](#carla.Actor)_

One of the most important group of actors in CARLA. These include any type of vehicle from cars to trucks, motorbikes, vans, bycicles and also official vehicles such as police cars. A wide set of these actors is provided in [carla.BlueprintLibrary](#carla.BlueprintLibrary) to facilitate differente requirements. Vehicles can be either manually controlled or set to an autopilot mode that will be conducted client-side by the traffic manager.

Dunder methods

- **\__eq__**(**self**, **other**=[carla.VehiclePhysicsControl](#carla.VehiclePhysicsControl)) - **\__ne__**(**self**, **other**=[carla.VehiclePhysicsControl](#carla.VehiclePhysicsControl)) - **\__str__**(**self**)

carla.Walker

Inherited from _[carla.Actor](#carla.Actor)_

This class inherits from the [carla.Actor](#carla.Actor) and defines pedestrians in the simulation. Walkers are a special type of actor that can be controlled either by an AI ([carla.WalkerAIController](#carla.WalkerAIController)) or manually via script, using a series of [carla.WalkerControl](#carla.WalkerControl) to move these and their skeletons.

Instance Variables

- **bounding_box** (_[carla.BoundingBox](#carla.BoundingBox)_) The walker's collider defined by a bounding box.

Methods

- **apply_control**(**self**, **control**) On the next tick, the control will move the walker in a certain direction with a certain speed. Jumps can be commanded too. - **Parameters:** - `control` (_[carla.WalkerControl](#carla.WalkerControl)_) - **apply_control**(**self**, **control**) On the next tick, the control defines a list of bone transformations that will be applied to the walker's skeleton. - **Parameters:** - `control` (_[carla.WalkerBoneControl](#carla.WalkerBoneControl)_) - **get_control**(**self**) The client returns the control applied to this walker during last tick. The method does not call the simulator. - **Return:** _[carla.WalkerControl](#carla.WalkerControl)_

Dunder methods

- **\__str__**(**self**)

carla.WalkerAIController

Inherited from _[carla.Actor](#carla.Actor)_

Class that conducts AI control for a walker. The controllers are defined as actors, but they are quite different from the rest. They need to be attached to a parent actor during their creation, which is the walker they will be controlling (take a look at [carla.World](#carla.World) if you are yet to learn on how to spawn actors). They also need for a special blueprint (already defined in [carla.BlueprintLibrary](#carla.BlueprintLibrary) as "controller.ai.walker"). This is an empty blueprint, as the AI controller will be invisible in the simulation but will follow its parent around to dictate every step of the way.

Methods

- **go_to_location**(**self**, **destination**) Sets the destination that the pedestrian will reach. - **Parameters:** - `destination` (_[carla.Location](#carla.Location)_) - **start**(**self**) Enables AI control for its parent walker. - **stop**(**self**) Disables AI control for its parent walker. - **set_max_speed**(**self**, **speed**=1.4) Sets a speed for the walker in meters per second. - **Parameters:** - `speed` (_float_) – speed in m/s. An easy walking speed is set by default.

Dunder methods

- **\__str__**(**self**)

carla.WalkerBoneControl

This class grants bone specific manipulation for walker. The skeletons of walkers have been unified for clarity and the transform applied to each bone are always relative to its parent. Take a look here to learn more on how to create a walker and define its movement.

Instance Variables

- **bone_transforms** (_list([name,transform])_) List of tuples where the first value is the bone's name and the second value stores the transformation (changes in location and rotation) that will be applied to it.

Methods

- **\__init__**(**self**, **list(name,transform)**) Intializes an object containing moves to be applied on tick. These are listed with the name of the bone and the transform that will be applied to it. - **Parameters:** - `list(name,transform)` (_tuple_)

Dunder methods

- **\__str__**(**self**)

carla.WalkerControl

- **\__init__**(**self**) - **\__init__**(**self**, **blueprint**, **transform**) - **Parameters:** - `blueprint` (_[carla.ActorBlueprint](#carla.ActorBlueprint)_) - `transform` (_[carla.Transform](#carla.Transform)_) - **\__init__**(**self**, **blueprint**, **transform**, **parent**) - **Parameters:** - `blueprint` (_[carla.ActorBlueprint](#carla.ActorBlueprint)_) - `transform` (_[carla.Transform](#carla.Transform)_) - `parent` (_[carla.Actor](#carla.Actor) or int_) - **then**(**self**, **command**) 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. - **Parameters:** - `command` (_any carla Command_) – a Carla command.

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carla.Actor

Instance Variables

Methods

Dunder methods

carla.ActorAttribute

Instance Variables

Methods

Dunder methods

carla.ActorAttributeType

Instance Variables

carla.ActorBlueprint

Instance Variables

Methods

Dunder methods

carla.ActorList

Methods

Dunder methods

carla.ActorSnapshot

Instance Variables

Methods

carla.AttachmentType

Instance Variables

carla.BlueprintLibrary

Methods

Dunder methods

carla.BoundingBox

Instance Variables

Methods

Dunder methods

carla.Client

Methods

carla.CollisionEvent

Instance Variables

carla.Color

Instance Variables

Methods

Dunder methods

carla.ColorConverter

Instance Variables

carla.DebugHelper

Methods

carla.GearPhysicsControl

Instance Variables

Methods

Dunder methods

carla.GeoLocation

Instance Variables

Methods

Dunder methods

carla.GnssMeasurement

Instance Variables

Methods

Dunder methods

carla.IMUMeasurement

Instance Variables

Methods

Dunder methods

carla.Image

Instance Variables

Methods

Dunder methods

carla.Junction

Instance Variables

Methods

carla.Landmark

Instance Variables

Methods

carla.LandmarkOrientation

Instance Variables

carla.LandmarkType

Instance Variables

carla.LaneChange

Instance Variables

carla.LaneInvasionEvent

Instance Variables

Methods

Dunder methods

carla.LaneMarking

Instance Variables

187 KiB

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