carla/Docs/python_api.md

#Python API reference

carla.Actor

CARLA defines actors as anything that plays a role in the simulation or can be moved around. That includes: pedestrians, vehicles, sensors and traffic signs (considering traffic lights as part of these). Actors are spawned in the simulation by carla.World and they need for a carla.ActorBlueprint to be created. These blueprints belong into a library provided by CARLA, find more about them here.

Instance Variables

- **attributes** (_dict_) A dictionary containing the attributes of the blueprint this actor was based on. - **id** (_int_) Identifier for this actor. Unique during a given episode. - **parent** (_[carla.Actor](#carla.Actor)_) Actors may be attached to a parent actor that they will follow around. This is said actor. - **semantic_tags** (_list(int)_) A list of semantic tags provided by the blueprint listing components for this actor. E.g. a traffic light could be tagged with "pole" and "traffic light". These tags are used by the semantic segmentation sensor. Find more about this and other sensors [here](ref_sensors.md#semantic-segmentation-camera). - **type_id** (_str_) The identifier of the blueprint this actor was based on, e.g. "vehicle.ford.mustang".

Methods

- **\__str__**(**self**) Parses a summary of this actor's information to string. - **Return:** _str_ - **add_impulse**(**self**, **impulse**) Adds an impulse to the actor. - **Parameters:** - `impulse` (_[carla.Vector3D](#carla.Vector3D)_) - **destroy**(**self**) Tells the simulator to destroy this actor and returns True if it was successful. It has no effect if it was already destroyed. - **Return:** _bool_ - **Warning:** _This method blocks the script until the destruction is completed by the simulator. _ - **get_acceleration**(**self**) Returns the actor's 3D acceleration vector the client recieved during last tick. The method does not call the simulator. - **Return:** _[carla.Vector3D](#carla.Vector3D)_ - **get_angular_velocity**(**self**) Returns the actor's angular velocity vector the client recieved during last tick. The method does not call the simulator. - **Return:** _[carla.Vector3D](#carla.Vector3D)_ - **get_location**(**self**) Returns the actor's location the client recieved during last tick. The method does not call the simulator. - **Return:** _[carla.Location](#carla.Location)_ - **get_transform**(**self**) Returns the actor's transform (location and rotation) the client recieved during last tick. The method does not call the simulator. - **Return:** _[carla.Transform](#carla.Transform)_ - **get_velocity**(**self**) Returns the actor's velocity vector the client recieved during last tick. The method does not call the simulator. - **Return:** _[carla.Vector3D](#carla.Vector3D)_ - **get_world**(**self**) Returns the world this actor belongs to. - **Return:** _[carla.World](#carla.World)_ - **set_angular_velocity**(**self**, **angular_velocity**) Changes the actor's angular velocity vector. - **Parameters:** - `angular_velocity` (_[carla.Vector3D](#carla.Vector3D)_) - **set_location**(**self**, **location**) Teleports the actor to a given location. - **Parameters:** - `location` (_[carla.Location](#carla.Location)_) - **set_simulate_physics**(**self**, **enabled**=True) Enables or disables the simulation of physics on this actor. - **Parameters:** - `enabled` (_bool_) - **set_transform**(**self**, **transform**) Teleports the actor to a given transform (location and rotation). - **Parameters:** - `transform` (_[carla.Transform](#carla.Transform)_) - **set_velocity**(**self**, **velocity**) Sets the actor's velocity vector. - **Parameters:** - `velocity` (_[carla.Vector3D](#carla.Vector3D)_)

---

carla.ActorAttribute

CARLA provides a library of blueprints for actors that can be accessed as carla.BlueprintLibrary. Each of these blueprints has a series of attributes defined internally. Some of these are modifiable, others are not. A list of recommended values is provided for those that can be set.

Instance Variables

- **id** (_str_) The attribute's name and identifier in the library. - **type** (_[carla.ActorAttributeType](#carla.ActorAttributeType)_) The attribute's parameter type. - **recommended_values** (_list(str)_) A list of values suggested by those who designed the blueprint. - **is_modifiable** (_bool_) It is True if the attribute's value can be modified.

Methods

- **as_bool**(**self**) Reads the attribute as boolean value. - **as_color**(**self**) Reads the attribute as [carla.Color](#carla.Color). - **as_int**(**self**) Reads the attribute as int. - **as_float**(**self**) Reads the attribute as float. - **as_str**(**self**) Reads the attribute as string. - **\__bool__**(**self**) Internal method to manage the attribute as bool. - **\__int__**(**self**) Internal method to manage the attribute as int. - **\__float__**(**self**) Internal method to manage the attribute as float. - **\__str__**(**self**) Parses the attribute ID and its value to string. - **\__eq__**(**self**, **other**) Returns true if this actor's attribute and `other` are the same. - **Parameters:** - `other` (_bool / int / float / str / [carla.Color](#carla.Color) / [carla.ActorAttribute](#carla.ActorAttribute)_) - **Return:** _bool_ - **\__ne__**(**self**, **other**) Returns true if this actor's attribute and `other` are different. - **Parameters:** - `other` (_bool / int / float / str / [carla.Color](#carla.Color) / [carla.ActorAttribute](#carla.ActorAttribute)_) - **Return:** _bool_ - **\__nonzero__**(**self**) Returns true if this actor's attribute is not zero or null. - **Return:** _bool_

---

carla.ActorAttributeType

CARLA provides a library of blueprints for actors in carla.BlueprintLibrary with different attributes each. This class defines the types those at carla.ActorAttribute can be as a series of enum. All this information is managed internally and listed here for a better comprehension of how CARLA works.

Instance Variables

- **Bool** - **Int** - **Float** - **RGBColor** - **String**

---

carla.ActorBlueprint

CARLA provides a blueprint library for actors that can be consulted through carla.BlueprintLibrary. Each of these consists of an identifier for the blueprint and a series of attributes that may be modifiable or not. This class is the intermediate step between the library and the actor creation. Actors need an actor blueprint to be spawned. These store the information for said blueprint in an object with its attributes and some tags to categorize them. The user can then customize some attributes and eventually spawn the actors through carla.World.

Instance Variables

- **id** (_str_) The identifier of said blueprint inside the library. E.g. `walker.pedestrian.0001`. - **tags** (_list(str)_) A list of tags each blueprint has that helps describing them. E.g. `['0001', 'pedestrian', 'walker']`.

Methods

- **\__iter__**(**self**) Allows iteration within this class. - **\__len__**(**self**) Returns the amount of attributes for this blueprint. - **\__str__**(**self**) Parses the information of this blueprint to string. - **has_attribute**(**self**, **id**) Returns True if the blueprint contains the attribute `id`. - **Parameters:** - `id` (_str_) – e.g. `gender` would return **True** for pedestrians' blueprints. - **Return:** _bool_ - **has_tag**(**self**, **tag**) Returns True if the blueprint has the specified `tag` listed. - **Parameters:** - `tag` (_str_) – e.g. 'walker'. - **Return:** _bool_ - **match_tags**(**self**, **wildcard_pattern**) Returns True if any of the tags listed for this blueprint matches `wildcard_pattern`. Matching follows [fnmatch](https://docs.python.org/2/library/fnmatch.html) standard. - **Parameters:** - `wildcard_pattern` (_str_) - **Return:** _bool_ - **get_attribute**(**self**, **id**) Returns the actor's attribute with `id` as identifier if existing. - **Parameters:** - `id` (_str_) - **Return:** _[carla.ActorAttribute](#carla.ActorAttribute)_ - **set_attribute**(**self**, **id**, **value**) If the `id` attribute is modifiable, changes its value to `value`. - **Parameters:** - `id` (_str_) – The identifier for the attribute that is intended to be changed. - `value` (_str_) – The new value for said attribute.

---

carla.ActorList

A class that contains every actor present on the scene and provides access to them. The list is automatically created and updated by the server and it can be returned using carla.World.

Methods

- **\__getitem__**(**self**, **pos**) Returns the actor corresponding to `pos` position in the list. - **Parameters:** - `pos` (_int_) - **Return:** _[carla.Actor](#carla.Actor)_ - **\__iter__**(**self**) Allows the iteration for this object. - **\__len__**(**self**) Returns the amount of actors listed. - **Return:** _int_ - **\__str__**(**self**) Parses to the ID for every actor listed. - **Return:** _str_ - **filter**(**self**, **wildcard_pattern**) Filters a list of Actors matching `wildcard_pattern` against their variable **type_id** (which identifies the blueprint used to spawn them). Matching follows [fnmatch](https://docs.python.org/2/library/fnmatch.html) standard. - **Parameters:** - `wildcard_pattern` (_str_) - **Return:** _list_ - **find**(**self**, **actor_id**) Finds an actor using its identifier and returns it or None if it is not present. - **Parameters:** - `actor_id` (_int_) - **Return:** _[carla.Actor](#carla.Actor)_

---

carla.ActorSnapshot

A class that comprises all the information for an actor at a certain moment in time. These objects are contained in a carla.WorldSnapshot and sent to the client once every tick.

Instance Variables

- **id** (_int_) An identifier for the snapshot itself.

Methods

- **get_acceleration**(**self**) Returns the acceleration vector registered for an actor in that tick. - **Return:** _[carla.Vector3D](#carla.Vector3D)_ - **get_angular_velocity**(**self**) Returns the angular velocity vector registered for an actor in that tick. - **Return:** _[carla.Vector3D](#carla.Vector3D)_ - **get_transform**(**self**) Returns the actor's transform (location and rotation) for an actor in that tick. - **Return:** _[carla.Transform](#carla.Transform)_ - **get_velocity**(**self**) Returns the velocity vector registered for an actor in that tick. - **Return:** _[carla.Vector3D](#carla.Vector3D)_

---

carla.AttachmentType

Class that defines attachment options between an actor and its parent. When spawning actors, these can be attached to another actor so their position changes accordingly. This is specially useful for cameras and sensors. Here is a brief recipe in which we can see how sensors can be attached to a car when spawned. Note that the attachment type is declared as an enum within the class.

Instance Variables

- **Rigid** With this fixed attatchment the object follow its parent position strictly. - **SpringArm** An attachment that expands or retracts depending on camera situation. SpringArms are an Unreal Engine component so [check this out](ref_code_recipes.md#attach-sensors-recipe) to learn some more about them.

---

carla.BlueprintLibrary

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

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

---

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

- **location** (_[carla.Location](#carla.Location)_) The center of the bounding box relative to its parent actor. - **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.

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))_ - **\__eq__**(**self**, **other**) Returns true if both location and extent are equal for this and `other`. - **Parameters:** - `other` (_[carla.BoundingBox](#carla.BoundingBox)_) - **Return:** _bool_ - **\__ne__**(**self**, **other**) Returns true if either location or extent are different for this and `other`. - **Parameters:** - `other` (_[carla.BoundingBox](#carla.BoundingBox)_) - **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. These are supported so far: [SpawnActor](#command.SpawnActor) [DestroyActor](#command.DestroyActor) [ApplyVehicleControl](#command.ApplyVehicleControl) [ApplyWalkerControl](#command.ApplyWalkerControl) [ApplyTransform](#command.ApplyTransform) [ApplyVelocity](#command.ApplyVelocity) [ApplyAngularVelocity](#command.ApplyAngularVelocity) [ApplyImpulse](#command.ApplyImpulse) [SetSimulatePhysics](#command.SetSimulatePhysics) [SetAutopilot](#command.SetAutopilot). - **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)_ - **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_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)_ - **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. - **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)_ - **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. - **generate_opendrive_world**(**self**, **opendrive**) Loads a new world with a basic physical topology generated from an OpenDRIVE file passed as `string`. 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_) – OpenDRIVE data as `string`. - **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. - **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. - **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. - **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. - **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/`.

---

carla.CollisionEvent

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

Class that defines a collision data for sensor.other.collision. The sensor creates one of this for every collision detected which may be many for one simulation step. Learn more about this [here](/cameras_and_sensors/#sensorothercollision).

Instance Variables

- **actor** (_[carla.Actor](#carla.Actor)_) The actor the sensor is attached to, the one that measured the collision. - **other_actor** (_[carla.Actor](#carla.Actor)_) The second actor involved in the collision. - **normal_impulse** (_[carla.Vector3D](#carla.Vector3D)_) Normal impulse resulting of the collision.

---

carla.Color

Class that defines a 32-bit RGBA color.

Instance Variables

- **r** (_int_) Red color (0-255). - **g** (_int_) Green color (0-255). - **b** (_int_) Blue color (0-255). - **a** (_int_) Alpha channel (0-255).

Methods

- **\__init__**(**self**, **r**=0, **g**=0, **b**=0, **a**=255) Initializes a color, black by default. - **Parameters:** - `r` (_int_) - `g` (_int_) - `b` (_int_) - `a` (_int_) - **\__eq__**(**self**, **other**) - **Parameters:** - `other` (_[carla.Color](#carla.Color)_) - **\__ne__**(**self**, **other**) - **Parameters:** - `other` (_[carla.Color](#carla.Color)_) - **\__str__**(**self**)

---

carla.ColorConverter

Class that defines conversion patterns that can be applied to a carla.Image in order to show information provided by carla.Sensor. Depth conversions cause a loss of accuracy, as sensors detect depth as float that is then converted to a grayscale value between 0 and 255. Take a look a this recipe to see an example of how to create and save image data for sensor.camera.semantic_segmentation.

Instance Variables

- **CityScapesPalette** Converts the image to a segmentated map using tags provided by the blueprint library. Used by sensor.camera.semantic_segmentation. - **Depth** Converts the image to a linear depth map. Used by sensor.camera.depth. - **LogarithmicDepth** Converts the image to a depth map using a logarithmic scale, leading to better precision for small distances at the expense of losing it when further away. - **Raw** No changes applied to the image.

---

carla.DebugHelper

Helper class part of carla.World that defines methods for creating debug shapes. By default, shapes last one second. They can be permanent, but take into account the resources needed to do so. Check out this recipe where the user takes a snapshot of the world and then proceeds to draw bounding boxes for traffic lights.

Methods

- **draw_point**(**self**, **location**, **size**=0.1f, **color**=(255,0,0), **life_time**=-1.0f) Draws a point `location`. - **Parameters:** - `location` (_[carla.Location](#carla.Location)_) – Spot in the coordinate system to center the object. - `size` (_float_) – Density of the point. - `color` (_[carla.Color](#carla.Color)_) – RGB code to color the object. Red by default. - `life_time` (_float_) – Lifespan in seconds for the shape. By default it only lasts one frame. Set this to 0 for permanent shapes. - **draw_line**(**self**, **begin**, **end**, **thickness**=0.1f, **color**=(255,0,0), **life_time**=-1.0f) Draws a line in between `begin` and `end`. - **Parameters:** - `begin` (_[carla.Location](#carla.Location)_) – Point in the coordinate system where the line starts. - `end` (_[carla.Location](#carla.Location)_) – Spot in the coordinate system where the line ends. - `thickness` (_float_) – Density of the line. - `color` (_[carla.Color](#carla.Color)_) – RGB code to color the object. Red by default. - `life_time` (_float_) – Lifespan in seconds for the shape. By default it only lasts one frame. Set this to 0 for permanent shapes. - **draw_arrow**(**self**, **begin**, **end**, **thickness**=0.1f, **arrow_size**=0.1f, **color**=(255,0,0), **life_time**=-1.0f) Draws an arrow from `begin` to `end` pointing in that direction. - **Parameters:** - `begin` (_[carla.Location](#carla.Location)_) – Point in the coordinate system where the arrow starts. - `end` (_[carla.Location](#carla.Location)_) – Point in the coordinate system where the arrow ends and points towards to. - `thickness` (_float_) – Density of the line. - `arrow_size` (_float_) – Size of the tip of the arrow. - `color` (_[carla.Color](#carla.Color)_) – RGB code to color the object. Red by default. - `life_time` (_float_) – Lifespan in seconds for the shape. By default it only lasts one frame. Set this to 0 for permanent shapes. - **draw_box**(**self**, **box**, **rotation**, **thickness**=0.1f, **color**=(255,0,0), **life_time**=-1.0f) Draws a box, ussually to act for object colliders. - **Parameters:** - `box` (_[carla.BoundingBox](#carla.BoundingBox)_) – Object containing a location and the length of a box for every axis. - `rotation` (_[carla.Rotation](#carla.Rotation)_) – Orientation of the box according to Unreal Engine's axis system. - `thickness` (_float_) – Density of the lines that define the box. - `color` (_[carla.Color](#carla.Color)_) – RGB code to color the object. Red by default. - `life_time` (_float_) – Lifespan in seconds for the shape. By default it only lasts one frame. Set this to 0 for permanent shapes. - **draw_string**(**self**, **location**, **text**, **draw_shadow**=False, **color**=(255,0,0), **life_time**=-1.0f) Draws a string in a given location of the simulation which can only be seen server-side. - **Parameters:** - `location` (_[carla.Location](#carla.Location)_) – Spot in the simulation where the text will be centered. - `text` (_str_) – Text intended to be shown in the world. - `draw_shadow` (_bool_) – Casts a shadow for the string that could help in visualization. It is disabled by default. - `color` (_[carla.Color](#carla.Color)_) – RGB code to color the string. Red by default. - `life_time` (_float_)

---

carla.GearPhysicsControl

Class that provides access to vehicle transmission details by defining a gear and when to run on it. This will be later used by carla.VehiclePhysicsControl to help simulate physics.

Instance Variables

- **ratio** (_float_) The transmission ratio of the gear. - **down_ratio** (_float_) Quotient between current RPM and MaxRPM where the autonomous gear box should shift down. - **up_ratio** (_float_) Quotient between current RPM and MaxRPM where the autonomous gear box should shift up.

Methods

- **\__init__**(**self**, **ratio**=1.0, **down_ratio**=0.5, **up_ratio**=0.65) - **Parameters:** - `ratio` (_float_) - `down_ratio` (_float_) - `up_ratio` (_float_) - **\__eq__**(**self**, **other**) - **Parameters:** - `other` (_[carla.GearPhysicsControl](#carla.GearPhysicsControl)_) - **\__ne__**(**self**, **other**) - **Parameters:** - `other` (_[carla.GearPhysicsControl](#carla.GearPhysicsControl)_) - **\__str__**(**self**)

---

carla.GeoLocation

Class that contains geographical coordinates simulated data. The carla.Map can convert simulation locations by using the tag in the OpenDRIVE file.

Instance Variables

- **latitude** (_float_) North/South value of a point on the map. - **longitude** (_float_) West/East value of a point on the map. - **altitude** (_float_) Height regarding ground level.

Methods

- **\__init__**(**self**, **latitude**=0.0, **longitude**=0.0, **altitude**=0.0) - **Parameters:** - `latitude` (_float_) - `longitude` (_float_) - `altitude` (_float_) - **\__eq__**(**self**, **other**) - **Parameters:** - `other` (_[carla.GeoLocation](#carla.GeoLocation)_) - **\__ne__**(**self**, **other**) - **Parameters:** - `other` (_[carla.GeoLocation](#carla.GeoLocation)_) - **\__str__**(**self**)

---

carla.GnssMeasurement

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

Class that defines the Gnss data registered by a sensor.other.gnss. It essentially reports its position with the position of the sensor and an OpenDRIVE geo-reference.

Instance Variables

- **altitude** (_float_) Height regarding ground level. - **latitude** (_float_) North/South value of a point on the map. - **longitude** (_float_) West/East value of a point on the map.

Methods

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

---

carla.IMUMeasurement

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

Class that defines the data registered by a sensor.other.imu, regarding the sensor's transformation according to the current [carla.World](#carla.World). It essentially acts as accelerometer, gyroscope and compass.

Instance Variables

- **accelerometer** (_[carla.Vector3D](#carla.Vector3D)_) Linear acceleration in m/s^2. - **compass** (_float_) Orientation with regard to the North ((0.0, -1.0, 0.0) in Unreal Engine) in radians. - **gyroscope** (_[carla.Vector3D](#carla.Vector3D)_) Angular velocity in rad/sec.

Methods

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

---

carla.Image

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

Class that defines an image of 32-bit BGRA colors that will be used as initial data retrieved by camera sensors. There are different camera sensors (currently three, RGB, depth and semantic segmentation) and each of these makes different use for the images. Learn more about them [here](/cameras_and_sensors/).

Instance Variables

- **fov** (_float_) Horizontal field of view of the image in degrees. - **height** (_int_) Image height in pixels. - **width** (_int_) Image width in pixels. - **raw_data** (_bytes_)

Methods

- **convert**(**self**, **color_converter**) Converts the image following the `color_converter` pattern. - **Parameters:** - `color_converter` (_[carla.ColorConverter](#carla.ColorConverter)_) - **save_to_disk**(**self**, **path**, **color_converter**=Raw) Saves the image to disk using a converter pattern stated as `color_converter`. The default conversion pattern is Raw that will make no changes to the image. - **Parameters:** - `path` (_str_) – Path that will contain the image. - `color_converter` (_[carla.ColorConverter](#carla.ColorConverter)_) – Default Raw will make no changes. - **\__len__**(**self**) - **\__iter__**(**self**) - **\__getitem__**(**self**, **pos**) - **Parameters:** - `pos` (_int_) - **\__setitem__**(**self**, **pos**, **color**) - **Parameters:** - `pos` (_int_) - `color` (_[carla.Color](#carla.Color)_) - **\__str__**(**self**)

---

carla.Junction

Class that embodies the intersections on the road described in the OpenDRIVE file according to OpenDRIVE 1.4 standards.

Instance Variables

- **id** (_int_) Identificator found in the OpenDRIVE file. - **bounding_box** (_[carla.BoundingBox](#carla.BoundingBox)_) Bounding box encapsulating the junction lanes.

Methods

- **get_waypoints**(**self**, **lane_type**) Returns a list of pairs of waypoints. Every tuple on the list contains first an initial and then a final waypoint within the intersection boundaries that describe the beginning and the end of said lane along the junction. Lanes follow their OpenDRIVE definitions so there may be many different tuples with the same starting waypoint due to possible deviations, as this are considered different lanes. - **Parameters:** - `lane_type` (_[carla.LaneType](#carla.LaneType)_) – Type of lanes to get the waypoints. - **Return:** _list(tuple([carla.Waypoint](#carla.Waypoint)))_

---

carla.Landmark

Class that defines any type of traffic landmark or sign affecting a road. These class mediates between the OpenDRIVE definition of the landmarks and their representation in the simulation. This class retrieves all the information defining a landmark in OpenDRIVE and facilitates information about which lanes does it affect and when. Landmarks will be accessed by carla.Waypoint objects trying to retrieve the regulation of their lane. Therefore some attributes depend on the waypoint that is consulting the landmark and so, creating the object.

Instance Variables

- **road_id** (_int_) The OpenDRIVE ID of the road where this landmark is defined. Due to OpenDRIVE road definitions, this road may be different from the road the landmark is currently affecting. It is mostly the case in junctions where the road diverges in different routes. Example: a traffic light is defined in one of the divergent roads in a junction, but it affects all the possible routes. - **distance** (_float_) Distance between the landmark and the waypoint creating the object (querying `get_landmarks` or `get_landmarks_of_type`). - **s** (_float_) Distance where the landmark is positioned along the geometry of the road `road_id`. - **t** (_float_) Lateral distance where the landmark is positioned from the edge of the road `road_id`. - **id** (_str_) Unique ID of the landmark in the OpenDRIVE file. - **name** (_str_) Name of the landmark in the in the OpenDRIVE file. - **is_dynamic** (_bool_) Indicates if the landmark has state changes over time such as traffic lights. - **orientation** (_[carla.LandmarkOrientation](#carla.LandmarkOrientation)_) Indicates which lanes the landmark is facing towards to. - **z_offset** (_float_) Height where the landmark is placed. - **country** (_str_) Country code where the landmark is defined (default to OpenDRIVE is Germany 2017). - **type** (_str_) Type identificator of the landmark according to the country code. - **sub_type** (_str_) Subtype identificator of the landmark according to the country code. - **value** (_float_) Value printed in the signal (e.g. speed limit, maximum weight, etc). - **unit** (_str_) Units of measurement for the attribute `value`. - **height** (_float_) Total height of the signal. - **width** (_float_) Total width of the signal. - **text** (_str_) Additional text in the signal. - **h_offset** (_float_) Orientation offset of the signal relative to the the definition of `road_id` at `s` in OpenDRIVE. - **pitch** (_float_) Pitch rotation of the signal. - **roll** (_float_) Roll rotation of the signal. - **waypoint** (_[carla.Waypoint](#carla.Waypoint)_) A waypoint placed in the lane of the one that made the query and at the `s` of the landmark. It is the first waypoint for which the landmark will be effective. - **transform** (_[carla.Transform](#carla.Transform)_) The location and orientation of the landmark in the simulation.

Methods

- **get_lane_validities**(**self**) Returns which lanes the landmark is affecting to. As there may be specific lanes where the landmark is not effective, the return is a list of pairs containing ranges of the __lane_id__ affected: Example: In a road with 5 lanes, being 3 not affected: [(from_lane1,to_lane2),(from_lane4,to_lane5)]. - **Return:** _list(tuple(int))_

---

carla.LandmarkOrientation

Helper class to define the orientation of a landmark in the road. The definition is not directly translated from OpenDRIVE but converted for the sake of understanding.

Instance Variables

- **Positive** The landmark faces towards vehicles going on the same direction as the road's geometry definition (lanes 0 and negative in OpenDRIVE). - **Negative** The landmark faces towards vehicles going on the opposite direction to the road's geometry definition (positive lanes in OpenDRIVE). - **Both** Affects vehicles going in both directions of the road.

---

carla.LandmarkType

Helper class containing a set of commonly used landmark types as defined by the default country code in the OpenDRIVE standard (Germany 2017). carla.Landmark does not reference this class. The landmark type is a string that varies greatly depending on the country code being used. This class only makes it easier to manage some of the most commonly used in the default set by describing them as an enum.

Instance Variables

- **Danger** Type 101. - **LanesMerging** Type 121. - **CautionPedestrian** Type 133. - **CautionBicycle** Type 138. - **LevelCrossing** Type 150. - **StopSign** Type 206. - **YieldSign** Type 205. - **MandatoryTurnDirection** Type 209. - **MandatoryLeftRightDirection** Type 211. - **TwoChoiceTurnDirection** Type 214. - **Roundabout** Type 215. - **PassRightLeft** Type 222. - **AccessForbidden** Type 250. - **AccessForbiddenMotorvehicles** Type 251. - **AccessForbiddenTrucks** Type 253. - **AccessForbiddenBicycle** Type 254. - **AccessForbiddenWeight** Type 263. - **AccessForbiddenWidth** Type 264. - **AccessForbiddenHeight** Type 265. - **AccessForbiddenWrongDirection** Type 267. - **ForbiddenUTurn** Type 272. - **MaximumSpeed** Type 274. - **ForbiddenOvertakingMotorvehicles** Type 276. - **ForbiddenOvertakingTrucks** Type 277. - **AbsoluteNoStop** Type 283. - **RestrictedStop** Type 286. - **HasWayNextIntersection** Type 301. - **PriorityWay** Type 306. - **PriorityWayEnd** Type 307. - **CityBegin** Type 310. - **CityEnd** Type 311. - **Highway** Type 330. - **RecomendedSpeed** Type 380. - **RecomendedSpeedEnd** Type 381.

---

carla.LaneChange

Class that defines the permission to turn either left, right, both or none (meaning only going straight is allowed). This information is stored for every carla.Waypoint according to the OpenDRIVE file. In this recipe the user creates a waypoint for a current vehicle position and learns which turns are permitted.

Instance Variables

- **NONE** Traffic rules do not allow turning right or left, only going straight. - **Both** Traffic rules allow turning either right or left. - **Left** Traffic rules allow turning left. - **Right** Traffic rules allow turning right.

---

carla.LaneInvasionEvent

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

Class that defines lanes invasion for sensor.other.lane_invasion. It works only client-side and is dependant on OpenDRIVE to provide reliable information. The sensor creates one of this every time there is a lane invasion, which may be more than once per simulation step. Learn more about this [here](/cameras_and_sensors/#sensorotherlane_invasion).

Instance Variables

- **actor** (_[carla.Actor](#carla.Actor)_) Gets the actor the sensor is attached to, the one that invaded another lane. - **crossed_lane_markings** (_list([carla.LaneMarking](#carla.LaneMarking))_) List of lane markings that have been crossed and detected by the sensor.

Methods

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

---

carla.LaneMarking

Class that gathers all the information regarding a lane marking according to OpenDRIVE 1.4 standard standard.

Instance Variables

- **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**

---

carla.LaneMarkingType

Class that defines the lane marking types accepted by OpenDRIVE 1.4. Take a look at this recipe where the user creates a carla.Waypoint for a vehicle location and retrieves from it the information about adjacent lane markings.
Note on double types: Lane markings are defined under the OpenDRIVE standard that determines whereas a line will be considered "BrokenSolid" or "SolidBroken". For each road there is a center lane marking, defined from left to right regarding the lane's directions. The rest of the lane markings are defined in order from the center lane to the closest outside of the road.

Instance Variables

- **NONE** - **BottsDots** - **Broken** - **BrokenBroken** - **BrokenSolid** - **Curb** - **Grass** - **Solid** - **SolidBroken** - **SolidSolid** - **Other**

---

carla.LaneType

Class that defines the possible lane types accepted by OpenDRIVE 1.4. This standards define the road information. For instance in this recipe the user creates a carla.Waypoint for the current location of a vehicle and uses it to get the current and adjacent lane types.

Instance Variables

- **NONE** - **Bidirectional** - **Biking** - **Border** - **Driving** - **Entry** - **Exit** - **Median** - **OffRamp** - **OnRamp** - **Parking** - **Rail** - **Restricted** - **RoadWorks** - **Shoulder** - **Sidewalk** - **Special1** - **Special2** - **Special3** - **Stop** - **Tram** - **Any** Every type except for NONE.

---

carla.LidarMeasurement

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

Class that defines the lidar data retrieved by a sensor.lidar.ray_cast. This essentially simulates a rotating lidar using ray-casting. Learn more about this [here](/cameras_and_sensors/#sensorlidarray_cast).

Instance Variables

- **channels** (_int_) Number of lasers shot. - **horizontal_angle** (_float_) Horizontal angle the Lidar is rotated at the time of the measurement (in radians). - **raw_data** (_bytes_) List of 3D points received as data.

Methods

- **get_point_count**(**self**, **channel**) Retrieves the number of points sorted by channel that are generated by this measure. Sorting by channel allows to identify the original channel for every point. - **Parameters:** - `channel` (_int_) - **save_to_disk**(**self**, **path**) Saves the point cloud to disk as a .ply file describing data from 3D scanners. The files generated are ready to be used within [MeshLab](http://www.meshlab.net/), an open source system for processing said files. Just take into account that axis may differ from Unreal Engine and so, need to be reallocated. - **Parameters:** - `path` (_str_) - **\__len__**(**self**) - **\__iter__**(**self**) - **\__getitem__**(**self**, **pos**) - **Parameters:** - `pos` (_int_) - **\__setitem__**(**self**, **pos**, **location**) - **Parameters:** - `pos` (_int_) - `location` (_[carla.Location](#carla.Location)_) - **\__str__**(**self**)

---

carla.Location

Inherited from _[carla.Vector3D](#carla.Vector3D)_

Represents a spot in the world.

Instance Variables

- **x** (_float_) Distance in meters from origin to spot on X axis. - **y** (_float_) Distance in meters from origin to spot on Y axis. - **z** (_float_) Distance in meters from origin to spot on Z axis.

Methods

- **\__init__**(**self**, **x**=0.0, **y**=0.0, **z**=0.0) - **Parameters:** - `x` (_float_) - `y` (_float_) - `z` (_float_) - **\__eq__**(**self**, **other**) Returns true if both locations are the same point in space. - **Parameters:** - `other` (_[carla.Location](#carla.Location)_) – The other point to be compared with. - **Return:** _bool_ - **\__ne__**(**self**, **other**) Returns true if both locations are different points in space. - **Parameters:** - `other` (_[carla.Location](#carla.Location)_) – The other point to be compared with. - **Return:** _bool_ - **\__str__**(**self**) Parses the axis' values to string. - **Return:** _str_ - **distance**(**self**, **location**) Returns Euclidean distance in meters from this location to another one. - **Parameters:** - `location` (_[carla.Location](#carla.Location)_) – The other point to compute the distance with. - **Return:** _float_

---

carla.Map

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))_ - **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)_ - **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)_ - **\__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](/cameras_and_sensors/#sensorotherobstacle).

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

- **\__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

- **\__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.

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__()**. - **\__len__**(**self**) - **\__iter__**(**self**) - **\__getitem__**(**self**, **pos**) - **Parameters:** - `pos` (_int_) - **\__setitem__**(**self**, **pos**, **detection**) - **Parameters:** - `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)_ - **\__eq__**(**self**, **other**) Returns true if both rotations represent the same orientation of each axis. - **Parameters:** - `other` (_[carla.Rotation](#carla.Rotation)_) – The other rotation to be compared with. - **Return:** _bool_ - **\__ne__**(**self**, **other**) Returns true if both rotations represent the same orientation of each axis. - **Parameters:** - `other` (_[carla.Rotation](#carla.Rotation)_) – The other rotation to be compared with. - **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. - **\__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.

Instance Variables

- **frame** (_int_) Frame count when the data was generated. - **timestamp** (_float_) Simulation-time when the data was generated. - **transform** (_[carla.Transform](#carla.Transform)_) Sensor's transform when the data was generated.

---

carla.Timestamp

Class that contains time information for simulated data. This information is automatically retrieved as part of the carla.WorldSnapshot the client gets on every frame, but might also be used in many other situations such as a carla.Sensor retrieveing data.

Instance Variables

- **frame** (_int_) The number of frames elapsed since the simulator was launched. - **elapsed_seconds** (_float_) Simulated seconds elapsed since the beginning of the current episode. - **delta_seconds** (_float_) Simulated seconds elapsed since the previous frame. - **platform_timestamp** (_float_) Time register of the frame at which this measurement was taken given by the OS in seconds.

Methods

- **\__init__**(**self**, **frame**, **elapsed_seconds**, **delta_seconds**, **platform_timestamp**) - **Parameters:** - `frame` (_int_) - `elapsed_seconds` (_float_) - `delta_seconds` (_float_) - `platform_timestamp` (_float_) - **\__eq__**(**self**, **other**) - **Parameters:** - `other` (_[carla.Timestamp](#carla.Timestamp)_) - **\__ne__**(**self**, **other**) - **Parameters:** - `other` (_[carla.Timestamp](#carla.Timestamp)_) - **\__str__**(**self**)

---

carla.TrafficLight

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

A traffic light actor, considered a specific type of traffic sign. As traffic lights will mostly appear at junctions, they belong to a group which contains the different traffic lights in it. Inside the group, traffic lights are differenciated by their pole index.

Within a group the state of traffic lights is changed in a cyclic pattern: one index is chosen and it spends a few seconds in green, yellow and eventually red. The rest of the traffic lights remain frozen in red this whole time, meaning that there is a gap in the last seconds of the cycle where all the traffic lights are red. However, the state of a traffic light can be changed manually. Take a look at this recipe to learn how to do so.

Instance Variables

- **state** (_[carla.TrafficLightState](#carla.TrafficLightState)_) Current state of the traffic light.

Methods

- **freeze**(**self**, **freeze**) Stops the traffic light at its current state. - **Parameters:** - `freeze` (_bool_) - **is_frozen**(**self**) The client returns True if a traffic light is frozen according to last tick. The method does not call the simulator. - **Return:** _bool_ - **get_pole_index**(**self**) Returns the index of the pole that identifies it as part of the traffic light group of a junction. - **Return:** _int_ - **get_group_traffic_lights**(**self**) Returns all traffic lights in the group this one belongs to. - **Return:** _list([carla.TrafficLight](#carla.TrafficLight))_ - **Note:** _This function calls the simulator. _ - **get_elapsed_time**(**self**) The client returns the time in seconds since current light state started according to last tick. The method does not call the simulator. - **Return:** _float_ - **get_state**(**self**) The client returns the state of the traffic light according to last tick. The method does not call the simulator. - **Return:** _[carla.TrafficLightState](#carla.TrafficLightState)_ - **get_green_time**(**self**) The client returns the seconds set for the traffic light to be green according to last tick. The method does not call the simulator. - **Return:** _float_ - **get_red_time**(**self**) The client returns the seconds set for the traffic light to be red according to last tick. The method does not call the simulator. - **Return:** _float_ - **get_yellow_time**(**self**) The client returns the the seconds set for the traffic light to be yellow according to last tick. The method does not call the simulator. - **Return:** _float_ - **set_state**(**self**, **state**) Sets a given state to a traffic light actor. - **Parameters:** - `state` (_[carla.TrafficLightState](#carla.TrafficLightState)_) - **set_green_time**(**self**, **green_time**) - **Parameters:** - `green_time` (_float_) – Sets a given time (in seconds) for the green light to be active. - **set_red_time**(**self**, **red_time**) Sets a given time (in seconds) for the red state to be active. - **Parameters:** - `red_time` (_float_) - **set_yellow_time**(**self**, **yellow_time**) Sets a given time (in seconds) for the yellow light to be active. - **Parameters:** - `yellow_time` (_float_) - **\__str__**(**self**)

---

carla.TrafficLightState

All possible states for traffic lights. These can either change at a specific time step or be changed manually. Take a look at this recipe to see an example.

Instance Variables

- **Green** - **Red** - **Yellow** - **Off** - **Unknown**

---

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

- **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. - **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. - **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. - **reset_traffic_lights**(**self**) Resets every traffic light in the map to its initial state. - **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. - **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. - **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. - **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. - **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. - **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

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

Traffic signs appearing in the simulation except for traffic lights. These have their own class inherited from this in [carla.TrafficLight](#carla.TrafficLight). Right now, speed signs, stops and yields are mainly the ones implemented, but many others are borne in mind.

Instance Variables

- **trigger_volume** A [carla.BoundingBox](#carla.BoundingBox) situated near a traffic sign where the [carla.Actor](#carla.Actor) who is inside can know about it.

---

carla.Transform

Class that defines a transformation, a combination of location and rotation, without scaling.

Instance Variables

- **location** (_[carla.Location](#carla.Location)_) Describes a point in the coordinate system. - **rotation** (_[carla.Rotation](#carla.Rotation)_) Describes a rotation for an object according to Unreal Engine's axis system.

Methods

- **\__init__**(**self**, **location**, **rotation**) - **Parameters:** - `location` (_[carla.Location](#carla.Location)_) - `rotation` (_[carla.Rotation](#carla.Rotation)_) - **\__eq__**(**self**, **other**) Returns true if both location and rotation are equal for this and `other`. - **Parameters:** - `other` (_[carla.Transform](#carla.Transform)_) - **Return:** _bool_ - **\__ne__**(**self**, **other**) Returns true if any location and rotation are not equal for this and `other`. - **Parameters:** - `other` (_[carla.Transform](#carla.Transform)_) - **Return:** _bool_ - **\__str__**(**self**) Parses both location and rotation to string. - **Return:** _str_ - **get_forward_vector**(**self**) Computes a forward vector using its rotation. - **Return:** _[carla.Vector3D](#carla.Vector3D)_ - **transform**(**self**, **in_point**) Translates a 3D point from global to local coordinates using the current transformation as frame of reference. - **Parameters:** - `in_point` (_[carla.Location](#carla.Location)_) – Location in the space to which the transformation will be applied.

---

carla.Vector2D

Helper class to perform 2D operations.

Instance Variables

- **x** (_float_) X-axis value. - **y** (_float_) Y-axis value.

Methods

- **\__init__**(**self**, **x**=0.0, **y**=0.0) - **Parameters:** - `x` (_float_) - `y` (_float_) - **\__add__**(**self**, **other**) Defines addition between 2D vectors and applies it to this. - **Parameters:** - `other` (_[carla.Vector2D](#carla.Vector2D)_) - **\__sub__**(**self**, **other**) Defines substraction between 2D vectors and applies it to this. - **Parameters:** - `other` (_[carla.Vector2D](#carla.Vector2D)_) - **\__mul__**(**self**, **other**) Defines multiplication between 2D vectors and applies it to this. - **Parameters:** - `other` (_[carla.Vector2D](#carla.Vector2D)_) - **\__truediv__**(**self**, **other**) Defines division between 2D vectors and applies it to this. - **Parameters:** - `other` (_[carla.Vector2D](#carla.Vector2D)_) - **\__eq__**(**self**, **other**) Returns true if values for every axis are equal. - **Parameters:** - `other` (_[carla.Vector2D](#carla.Vector2D)_) - **Return:** _bool_ - **\__ne__**(**self**, **bool**) Returns true if the value for any axis is different. - **Parameters:** - `bool` (_[carla.Vector2D](#carla.Vector2D)_) - **Return:** _bool_ - **\__str__**(**self**) Returns the axis values for the vector parsed as string. - **Return:** _str_

---

carla.Vector3D

Helper class to perform 3D operations.

Instance Variables

- **x** (_float_) X-axis value. - **y** (_float_) Y-axis value. - **z** (_float_) Z-axis value.

Methods

- **\__init__**(**self**, **x**=0.0, **y**=0.0, **z**=0.0) - **Parameters:** - `x` (_float_) - `y` (_float_) - `z` (_float_) - **\__add__**(**self**, **other**) Defines addition between 3D vectors and applies it to this. - **Parameters:** - `other` (_[carla.Vector3D](#carla.Vector3D)_) - **\__sub__**(**self**, **other**) Defines substraction between 3D vectors and applies it to this. - **Parameters:** - `other` (_[carla.Vector3D](#carla.Vector3D)_) - **\__mul__**(**self**, **other**) Defines multiplication between 3D vectors and applies it to this. - **Parameters:** - `other` (_[carla.Vector3D](#carla.Vector3D)_) - **\__truediv__**(**self**, **other**) Defines division between 3D vectors and applies it to this. - **Parameters:** - `other` (_[carla.Vector3D](#carla.Vector3D)_) - **\__eq__**(**self**, **other**) Returns true if values for every axis are equal. - **Parameters:** - `other` (_[carla.Vector3D](#carla.Vector3D)_) - **Return:** _bool_ - **\__ne__**(**self**, **other**) Returns true if the value for any axis is different. - **Parameters:** - `other` (_[carla.Vector3D](#carla.Vector3D)_) - **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.

Instance Variables

- **bounding_box** (_[carla.BoundingBox](#carla.BoundingBox)_) The vehicle's collider volume.

Methods

- **apply_control**(**self**, **control**) Applies a control object on the next tick, containing driving parameters such as throttle, steering or gear shifting. - **Parameters:** - `control` (_[carla.VehicleControl](#carla.VehicleControl)_) - **apply_physics_control**(**self**, **physics_control**) Applies a physics control object in the next tick containing the parameters that define the vehicle as a corporeal body. E.g.: moment of inertia, mass, drag coefficient and many more. - **Parameters:** - `physics_control` (_[carla.VehiclePhysicsControl](#carla.VehiclePhysicsControl)_) - **get_control**(**self**) The client returns the control applied in the last tick. The method does not call the simulator. - **Return:** _[carla.VehicleControl](#carla.VehicleControl)_ - **get_physics_control**(**self**) The simulator returns the last physics control applied to this vehicle. - **Return:** _[carla.VehiclePhysicsControl](#carla.VehiclePhysicsControl)_ - **Warning:** _This function does call the simulator to retrieve the value._ - **get_speed_limit**(**self**) The client returns the speed limit affecting this vehicle according to last tick (it does not call the simulator). The speed limit is updated when passing by a speed limit signal, so a vehicle might have none right after spawning. - **Return:** _float_ - **get_traffic_light**(**self**) Retrieves the traffic light actor affecting this vehicle (if any) according to last tick. The method does not call the simulator. - **Return:** _[carla.TrafficLight](#carla.TrafficLight)_ - **get_traffic_light_state**(**self**) The client returns the state of the traffic light affecting this vehicle according to last tick. The method does not call the simulator. If no traffic light is currently affecting the vehicle, returns green. - **Return:** _[carla.TrafficLightState](#carla.TrafficLightState)_ - **is_at_traffic_light**(**self**) Vehicles will be affected by a traffic light when the light is red and the vehicle is inside its bounding box. The client returns whether a traffic light is affecting this vehicle according to last tick (it does not call the simulator). - **Return:** _bool_ - **set_autopilot**(**self**, **enabled**=True) Turns on/off this vehicle's server-side autopilot. When autopilot mode is on, the vehicle will be conducted by the traffic manager client-side. - **Parameters:** - `enabled` (_bool_) - **\__str__**(**self**) - **Return:** _str_

---

carla.VehicleControl

Manages the basic movement of a vehicle using typical driving controls.

Instance Variables

- **throttle** (_float_) A scalar value to control the vehicle throttle [0.0, 1.0]. Default is 0.0. - **steer** (_float_) A scalar value to control the vehicle steering [-1.0, 1.0]. Default is 0.0. - **brake** (_float_) A scalar value to control the vehicle brake [0.0, 1.0]. Default is 0.0. - **hand_brake** (_bool_) Determines whether hand brake will be used. Default is False. - **reverse** (_bool_) Determines whether the vehicle will move backwards. Default is False. - **manual_gear_shift** (_bool_) Determines whether the vehicle will be controlled by changing gears manually. Default is False. - **gear** (_int_) States which gear is the vehicle running on.

Methods

- **\__init__**(**self**, **throttle**=0.0, **steer**=0.0, **brake**=0.0, **hand_brake**=True, **reverse**=True, **manual_gear_shift**=True, **gear**=0) - **Parameters:** - `throttle` (_float_) - `steer` (_float_) - `brake` (_float_) - `hand_brake` (_bool_) - `reverse` (_bool_) - `manual_gear_shift` (_bool_) - `gear` (_int_) - **\__eq__**(**self**, **other**) - **Parameters:** - `other` (_[carla.VehicleControl](#carla.VehicleControl)_) - **\__ne__**(**self**, **other**) - **Parameters:** - `other` (_[carla.VehicleControl](#carla.VehicleControl)_) - **\__str__**(**self**)

---

carla.VehicleLightState

Class that recaps the state of the lights of a vehicle, these can be used as a flags. E.g: VehicleLightState.HighBeam & VehicleLightState.Brake will return True when both are active. Lights are off by default in any situation and should be managed by the user via script. The blinkers blink automatically. Warning: Right now, not all vehicles have been prepared to work with this functionality, this will be added to all of them in later updates.

Instance Variables

- **NONE** All lights off. - **Position** - **LowBeam** - **HighBeam** - **Brake** - **RightBlinker** - **LeftBlinker** - **Reverse** - **Fog** - **Interior** - **Special1** This is reserved for certain vehicles that can have special lights, like a siren. - **Special2** This is reserved for certain vehicles that can have special lights, like a siren. - **Any** All lights on.

---

carla.VehiclePhysicsControl

Summarizes the parameters that will be used to simulate a carla.Vehicle as a physical object. The specific settings for the wheels though are stipulated using carla.WheelPhysicsControl.

Instance Variables

- **torque_curve** (_list([carla.Vector2D](#carla.Vector2D))_) Curve that indicates the torque measured in Nm for a specific RPM of the vehicle's engine. - **max_rpm** (_float_) The maximum RPM of the vehicle's engine. - **moi** (_float_) The moment of inertia of the vehicle's engine. - **damping_rate_full_throttle** (_float_) Damping ratio when the throttle is maximum. - **damping_rate_zero_throttle_clutch_engaged** (_float_) Damping ratio when the throttle is zero with clutch engaged. - **damping_rate_zero_throttle_clutch_disengaged** (_float_) Damping ratio when the throttle is zero with clutch disengaged. - **use_gear_autobox** (_bool_) If True, the vehicle will have an automatic transmission. - **gear_switch_time** (_float_) Switching time between gears. - **clutch_strength** (_float_) The clutch strength of the vehicle in Kgm^2/s. - **final_ratio** (_float_) The fixed ratio from transmission to wheels. - **forward_gears** (_list([carla.GearPhysicsControl](#carla.GearPhysicsControl))_) List of objects defining the vehicle's gears. - **mass** (_float_) The mass of the vehicle in Kg. - **drag_coefficient** (_float_) Drag coefficient of the vehicle's chassis. - **center_of_mass** (_[carla.Vector3D](#carla.Vector3D)_) The center of mass of the vehicle. - **steering_curve** (_list([carla.Vector2D](#carla.Vector2D))_) Curve that indicates the maximum steering for a specific forward speed. - **wheels** (_list([carla.WheelPhysicsControl](#carla.WheelPhysicsControl))_) List of wheel physics objects. This list should have 4 elements, where index 0 corresponds to the front left wheel, index 1 corresponds to the front right wheel, index 2 corresponds to the back left wheel and index 3 corresponds to the back right wheel. For 2 wheeled vehicles, set the same values for both front and back wheels.

Methods

- **\__init__**(**self**, **torque_curve**=0.0, 500.0], [5000.0, 500.0, **max_rpm**=5000.0, **moi**=1.0, **damping_rate_full_throttle**=0.15, **damping_rate_zero_throttle_clutch_engaged**=2.0, **damping_rate_zero_throttle_clutch_disengaged**=0.35, **use_gear_autobox**=True, **gear_switch_time**=0.5, **clutch_strength**=10.0, **final_ratio**=4.0, **forward_gears**=list(), **mass**=1000.0, **drag_coefficient**=0.3, **center_of_mass**=[0.0, 0.0, 0.0], **steering_curve**=0.0, 1.0], [10.0, 0.5, **wheels**=list()) VehiclePhysicsControl constructor. - **Parameters:** - `torque_curve` (_list([carla.Vector2D](#carla.Vector2D))_) - `max_rpm` (_float_) - `moi` (_float_) - `damping_rate_full_throttle` (_float_) - `damping_rate_zero_throttle_clutch_engaged` (_float_) - `damping_rate_zero_throttle_clutch_disengaged` (_float_) - `use_gear_autobox` (_bool_) - `gear_switch_time` (_float_) - `clutch_strength` (_float_) - `final_ratio` (_float_) - `forward_gears` (_list([carla.GearPhysicsControl](#carla.GearPhysicsControl))_) - `drag_coefficient` (_float_) - `center_of_mass` (_[carla.Vector3D](#carla.Vector3D)_) - `steering_curve` (_[carla.Vector2D](#carla.Vector2D)_) - `wheels` (_list([carla.WheelPhysicsControl](#carla.WheelPhysicsControl))_) - **\__eq__**(**self**, **other**) - **Parameters:** - `other` (_[carla.VehiclePhysicsControl](#carla.VehiclePhysicsControl)_) - **\__ne__**(**self**, **other**) - **Parameters:** - `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)_ - **\__str__**(**self**) - **Return:** _str_

---

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

- **start**(**self**) Enables AI control for its parent walker. - **stop**(**self**) Disables AI control for its parent walker. - **go_to_location**(**self**, **destination**) Sets the destination that the pedestrian will reach. - **Parameters:** - `destination` (_[carla.Location](#carla.Location)_) - **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. - **\__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_) - **\__str__**(**self**)

---

carla.WalkerControl

This class defines specific directions that can be commanded to a carla.Walker to control it via script. The walker's animations will blend automatically with the parameters defined in this class when applied, though specific skeleton moves can be obtained through class.WalkerBoneControl.

AI control can be settled for walkers, but the control used to do so is carla.WalkerAIController.

Instance Variables

- **direction** (_[carla.Vector3D](#carla.Vector3D)_) Vector using global coordinates that will correspond to the direction of the walker. - **speed** (_float_) A scalar value to control the walker's speed. - **jump** (_bool_) If True, the walker will perform a jump.

Methods

- **\__init__**(**self**, **direction**=[1.0, 0.0, 0.0], **speed**=0.0, **jump**=False) - **Parameters:** - `direction` (_[carla.Vector3D](#carla.Vector3D)_) - `speed` (_float_) - `jump` (_bool_) - **\__eq__**(**self**, **other**) Compares every variable with `other` and returns True if these are all the same. - **Parameters:** - `other` (_[carla.WalkerControl](#carla.WalkerControl)_) - **\__ne__**(**self**, **other**) Compares every variable with `other` and returns True if any of these differ. - **Parameters:** - `other` (_[carla.WalkerControl](#carla.WalkerControl)_) - **\__str__**(**self**)

---

carla.Waypoint

Waypoints in CARLA are described as 3D directed points. They store a certain carla.Transform which locates the waypoint in a road and orientates it according to the lane. They also store the road information belonging to said point regarding its lane and lane markings. All of this information is retrieved as provided by the OpenDRIVE file.

Instance Variables

- **id** (_int_) The identificator is generated using a hash combination of the road, section, lane and s values that correspond to said point in the OpenDRIVE geometry. The s precision is set to 2 centimeters, so 2 waypoints closer than 2 centimeters in the same road, section and lane, will have the same identificator. - **transform** (_[carla.Transform](#carla.Transform)_) Position and orientation of the waypoint according to the current lane information. This data is computed the first time it is accessed. It is not created right away in order to ease computing costs when lots of waypoints are created but their specific transform is not needed. - **road_id** (_int_) OpenDRIVE road's id. - **section_id** (_int_) OpenDRIVE section's id, based on the order that they are originally defined. - **lane_id** (_int_) OpenDRIVE lane's id, this value can be positive or negative which represents the direction of the current lane with respect to the road. For more information refer to OpenDRIVE [documentation](http://www.opendrive.org/docs/OpenDRIVEFormatSpecRev1.4H.pdf#page=20). - **s** (_float_) OpenDRIVE s value of the current position. - **is_junction** (_bool_) True if the current Waypoint is on a junction as defined by OpenDRIVE. - **lane_width** (_float_) Horizontal size of the road at current s. - **lane_change** (_[carla.LaneChange](#carla.LaneChange)_) Lane change definition of the current Waypoint's location, based on the traffic rules defined in the OpenDRIVE file. It states if a lane change can be done and in which direction. - **lane_type** (_[carla.LaneType](#carla.LaneType)_) The lane type of the current Waypoint, based on OpenDRIVE 1.4 standard. - **right_lane_marking** (_[carla.LaneMarking](#carla.LaneMarking)_) The right lane marking information based on the direction of the Waypoint. - **left_lane_marking** (_[carla.LaneMarking](#carla.LaneMarking)_) The left lane marking information based on the direction of the Waypoint.

Methods

- **get_left_lane**(**self**) Generates a Waypoint at the center of the left lane based on the direction of the current Waypoint, taking into account if the lane change is allowed in this location. Will return None if the lane does not exist. - **Return:** _[carla.Waypoint](#carla.Waypoint)_ - **get_right_lane**(**self**) Generates a waypoint at the center of the right lane based on the direction of the current waypoint, taking into account if the lane change is allowed in this location. Will return None if the lane does not exist. - **Return:** _[carla.Waypoint](#carla.Waypoint)_ - **next**(**self**, **distance**) Returns a list of waypoints at a certain approximate `distance` from the current one. It takes into account the road and its possible deviations without performing any lane change and returns one waypoint per option. The list may be empty if the lane is not connected to any other at the specified distance. - **Parameters:** - `distance` (_float_) – The approximate distance where to get the next waypoints. - **Return:** _list([carla.Waypoint](#carla.Waypoint))_ - **next_until_lane_end**(**self**, **distance**) Returns a list of waypoints from this to the end of the lane separated by a certain `distance`. - **Parameters:** - `distance` (_float_) – The approximate distance between waypoints. - **Return:** _list([carla.Waypoint](#carla.Waypoint))_ - **previous**(**self**, **distance**) This method does not return the waypoint previously visited by an actor, but a list of waypoints at an approximate `distance` but in the opposite direction of the lane. Similarly to **next()**, it takes into account the road and its possible deviations without performing any lane change and returns one waypoint per option. The list may be empty if the lane is not connected to any other at the specified distance. - **Parameters:** - `distance` (_float_) – The approximate distance where to get the previous waypoints. - **Return:** _list([carla.Waypoint](#carla.Waypoint))_ - **previous_until_lane_start**(**self**, **distance**) Returns a list of waypoints from this to the start of the lane separated by a certain `distance`. - **Parameters:** - `distance` (_float_) – The approximate distance between waypoints. - **Return:** _list([carla.Waypoint](#carla.Waypoint))_ - **get_landmarks**(**self**, **distance**, **stop_at_junction**=False) Returns a list of landmarks in the road from the current waypoint until the specified distance. - **Parameters:** - `distance` (_float_) – Distance to search for landmarks from the current waypoint (metres in OpenDRIVE). - `stop_at_junction` (_bool_) – Enables or disables the landmark search through junctions. - **Return:** _list([carla.Landmark](#carla.Landmark))_ - **get_landmarks_of_type**(**self**, **distance**, **type**, **stop_at_junction**=False) Returns a list of landmarks in the road of a certain type from the current waypoint until the specified distance. - **Parameters:** - `distance` (_float_) – Distance to search for landmarks from the current waypoint (metres in OpenDRIVE). - `type` (_str_) – Type of landmarks to search. - `stop_at_junction` (_bool_) – Enables or disables the landmark search through junctions. - **Return:** _list([carla.Landmark](#carla.Landmark))_ - **\__str__**(**self**)

---

carla.WeatherParameters

This class defines objects containing lightning and weather specifications that can later be applied in carla.World. So far, these conditions only intervene with sensor.camera.rgb. They neither affect the actor's physics nor other sensors.
Each of these parameters acts indepently from the rest. Increasing the rainfall will not automatically create puddles nor change the road's humidity. That makes for a better customization but means that realistic conditions need to be scripted. However an example of dynamic weather conditions working realistically can be found here.

Instance Variables

- **cloudiness** (_float_) Values range from 0 to 100, being 0 a clear sky and 100 one completely covered with clouds. - **precipitation** (_float_) Rain intensity values range from 0 to 100, being 0 none at all and 100 a heavy rain. - **precipitation_deposits** (_float_) Determines the creation of puddles. Values range from 0 to 100, being 0 none at all and 100 a road completely capped with water. Puddles are created with static noise, meaning that they will always appear at the same locations. - **wind_intensity** (_float_) Controls the strenght of the wind with values from 0, no wind at all, to 100, a strong wind. The wind does affect rain direction and leaves from trees, so this value is restricted to avoid animation issues. - **fog_density** (_float_) Fog density. It only affects the RGB camera sensor. Values range from 0 to 100. - **fog_distance** (_float_) Fog start distance (in meters). Values range from 0 to infinite. - **wetness** (_float_) Wetness intensity. It only affects the RGB camera sensor. Values range from 0 to 100. - **sun_azimuth_angle** (_float_) The azimuth angle of the sun in degrees. Values range from 0 to 360. Zero is an origin point in a sphere determined by Unreal Engine. - **sun_altitude_angle** (_float_) Altitude angle of the sun in degrees. Values range from -90 to 90 corresponding to midnight and midday each.

Methods

- **\__init__**(**self**, **cloudiness**=0.0, **precipitation**=0.0, **precipitation_deposits**=0.0, **wind_intensity**=0.0, **sun_azimuth_angle**=0.0, **sun_altitude_angle**=0.0) Method to initialize an object defining weather conditions. This class has some presets for different noon and sunset conditions listed in a note below. - **Parameters:** - `cloudiness` (_float_) – 0 is a clear sky, 100 complete overcast. - `precipitation` (_float_) – 0 is no rain at all, 100 a heavy rain. - `precipitation_deposits` (_float_) – 0 means no puddles on the road, 100 means roads completely capped by rain. - `wind_intensity` (_float_) – 0 is calm, 100 a strong wind. - `sun_azimuth_angle` (_float_) – 90 is midday, -90 is midnight. - `sun_altitude_angle` (_float_) – 0 is an arbitrary North, 180 its corresponding South. - **Note:** _ClearNoon, CloudyNoon, WetNoon, WetCloudyNoon, SoftRainNoon, MidRainyNoon, HardRainNoon, ClearSunset, CloudySunset, WetSunset, WetCloudySunset, SoftRainSunset, MidRainSunset, HardRainSunset. _ - **\__eq__**(**self**, **other**) Returns True if both objects' variables are the same. - **Return:** _bool_ - **\__ne__**(**self**, **other**) Returns True if both objects' variables are different. - **Return:** _bool_ - **\__str__**(**self**)

---

carla.WheelPhysicsControl

Class that defines specific physical parameters for wheel objects that will be part of a carla.VehiclePhysicsControl to simulate vehicle it as a material object.

Instance Variables

- **tire_friction** (_float_) A scalar value that indicates the friction of the wheel. - **damping_rate** (_float_) Damping rate of the wheel. - **max_steer_angle** (_float_) Maximum angle in degrees that the wheel can steer. - **radius** (_float_) Radius of the wheel in centimeters. - **max_brake_torque** (_float_) Maximum brake torque in Nm. - **max_handbrake_torque** (_float_) Maximum handbrake torque in Nm. - **position** (_[carla.Vector3D](#carla.Vector3D)_) World position of the wheel. This is a read-only parameter.

Methods

- **\__init__**(**self**, **tire_friction**=2.0, **damping_rate**=0.25, **max_steer_angle**=70.0, **radius**=30.0, **max_brake_torque**=1500.0, **max_handbrake_torque**=3000.0, **position**=(0.0,0.0,0.0)) - **Parameters:** - `tire_friction` (_float_) - `damping_rate` (_float_) - `max_steer_angle` (_float_) - `radius` (_float_) - `max_brake_torque` (_float_) - `max_handbrake_torque` (_float_) - `position` (_[carla.Vector3D](#carla.Vector3D)_) - **\__eq__**(**self**, **other**) - **Parameters:** - `other` (_[carla.WheelPhysicsControl](#carla.WheelPhysicsControl)_) - **\__ne__**(**self**, **other**) - **Parameters:** - `other` (_[carla.WheelPhysicsControl](#carla.WheelPhysicsControl)_) - **\__str__**(**self**)

---

carla.World

World objects are created by the client to have a place for the simulation to happen. The world contains the map we can see, meaning the asset, not the navigation map. Navigation maps are part of the carla.Map class. It also manages the weather and actors present in it. There can only be one world per simulation, but it can be changed anytime.

Instance Variables

- **id** (_int_) The ID of the episode associated with this world. Episodes are different sessions of a simulation. These change everytime a world is disabled or reloaded. Keeping track is useful to avoid possible issues. - **debug** (_[carla.DebugHelper](#carla.DebugHelper)_) Responsible for creating different shapes for debugging. Take a look at its class to learn more about it.

Methods

- **\__str__**(**self**) The content of the world is parsed and printed as a brief report of its current state. - **Return:** _string_ - **apply_settings**(**self**, **world_settings**) This method applies settings contained in an object to the simulation running and returns the ID of the frame they were implemented. - **Parameters:** - `world_settings` (_[carla.WorldSettings](#carla.WorldSettings)_) - **Return:** _int_ - **get_actor**(**self**, **actor_id**) Looks up for an actor by ID and returns None if not found. - **Parameters:** - `actor_id` (_int_) - **Return:** _[carla.Actor](#carla.Actor)_ - **get_actors**(**self**, **actor_ids**=None) Retrieves a list of [carla.Actor](#carla.Actor) elements, either using a list of IDs provided or just listing everyone on stage. If an ID does not correspond with any actor, it will be excluded from the list returned, meaning that both the list of IDs and the list of actors may have different lengths. - **Parameters:** - `actor_ids` (_list_) – The IDs of the actors being searched. By default it is set to None and returns every actor on scene. - **Return:** _[carla.ActorList](#carla.ActorList)_ - **get_blueprint_library**(**self**) Returns a list of actor blueprints available to ease the spawn of these into the world. - **Return:** _[carla.BlueprintLibrary](#carla.BlueprintLibrary)_ - **get_map**(**self**) Returns the object containing the navigation map used to describe this world. - **Return:** _[carla.Map](#carla.Map)_ - **get_random_location_from_navigation**(**self**) This can only be used with walkers. It retrieves a random location to be used as a destination using the **go_to_location()** method in [carla.WalkerAIController](#carla.WalkerAIController). This location will be part of a sidewalk. Roads, crosswalks and grass zones are excluded. The method does not take into consideration locations of existing actors so if a collision happens when trying to spawn an actor, it will return an error. Take a look at [`spawn_npc.py`](e73ad54d18/PythonAPI/examples/spawn_npc.py (L179)) for an example. - **Return:** _[carla.Location](#carla.Location)_ - **get_snapshot**(**self**) Returns a snapshot of the world at a certain moment comprising all the information about the actors. - **Return:** _[carla.WorldSnapshot](#carla.WorldSnapshot)_ - **get_spectator**(**self**) Returns the spectator actor. The spectator is a special type of actor created by Unreal Engine, usually with ID=0, that acts as a camera and controls the view in the simulator window. - **Return:** _[carla.Actor](#carla.Actor)_ - **get_settings**(**self**) Returns an object containing some data about the simulation such as synchrony between client and server or rendering mode. - **Return:** _[carla.WorldSettings](#carla.WorldSettings)_ - **get_weather**(**self**) Retrieves an object containing weather parameters currently active in the simulation, mainly cloudiness, precipitation, wind and sun position. - **Return:** _[carla.WeatherParameters](#carla.WeatherParameters)_ - **on_tick**(**self**, **callback**) The method will start callbacks for a defined function `callback`. It will return the ID for this callback so it can be removed with **remove_on_tick()**. - **Parameters:** - `callback` (_[carla.WorldSnapshot](#carla.WorldSnapshot)_) – A defined function with a snapshot as compulsory parameter that will be called every tick. - **Return:** _int_ - **remove_on_tick**(**self**, **callback_id**) Stops the callback for `callback_id` started with **on_tick()**. - **Parameters:** - `callback_id` (_callback_) – The callback to be removed. - **set_weather**(**self**, **weather**) Changes the weather parameteres ruling the simulation to another ones defined in an object. - **Parameters:** - `weather` (_[carla.WeatherParameters](#carla.WeatherParameters)_) – New conditions to be applied. - **spawn_actor**(**self**, **blueprint**, **transform**, **attach_to**=None, **attachment**=Rigid) The method will create, return and spawn an actor into the world. The actor will need an available blueprint to be created and a transform (location and rotation). It can also be attached to a parent with a certain attachment type. - **Parameters:** - `blueprint` (_[carla.ActorBlueprint](#carla.ActorBlueprint)_) – The reference from which the actor will be created. - `transform` (_[carla.Transform](#carla.Transform)_) – Contains the location and orientation the actor will be spawned with. - `attach_to` (_[carla.Actor](#carla.Actor)_) – The parent object that the spawned actor will follow around. - `attachment` (_[carla.AttachmentType](#carla.AttachmentType)_) – Determines how fixed and rigorous should be the changes in position according to its parent object. - **Return:** _[carla.Actor](#carla.Actor)_ - **tick**(**self**) This only has effect on synchronous mode, when both client and server move together. The method tells the server when to step to the next frame and returns the id of the newly started frame. - **Return:** _int_ - **try_spawn_actor**(**self**, **blueprint**, **transform**, **attach_to**=None, **attachment**=Rigid) Same as **spawn_actor()** but returns None on failure instead of throwing an exception. - **Parameters:** - `blueprint` (_[carla.ActorBlueprint](#carla.ActorBlueprint)_) – The reference from which the actor will be created. - `transform` (_[carla.Transform](#carla.Transform)_) – Contains the location and orientation the actor will be spawned with. - `attach_to` (_[carla.Actor](#carla.Actor)_) – The parent object that the spawned actor will follow around. - `attachment` (_[carla.AttachmentType](#carla.AttachmentType)_) – Determines how fixed and rigorous should be the changes in position according to its parent object. - **Return:** _[carla.Actor](#carla.Actor)_ - **wait_for_tick**(**self**, **seconds**=10.0) The client tells the server to block calling thread until a **world_tick()** is received. - **Parameters:** - `seconds` (_float_) – Maximum time in seconds the server should wait for a tick. It is set to 10.0 by default. - **Return:** _[carla.WorldSnapshot](#carla.WorldSnapshot)_

---

carla.WorldSettings

The simulation has some advanced configuration options that are contained in this class and can be managed using carla.World and its methods. These allow the user to choose between client-server synchrony/asynchrony, activation of "no rendering mode" and either if the simulation should run with a fixed or variable time-step. Check this out if you want to learn about it.

Instance Variables

- **synchronous_mode** (_bool_) States the synchrony between client and server. When set to true, the server will wait for a client tick in order to move forward. It is false by default. - **no_rendering_mode** (_bool_) When enabled, the simulation will run no rendering at all. This is mainly used to avoid overhead during heavy traffic simulations. It is false by default. - **fixed_delta_seconds** (_float_) Ensures that the time elapsed between two steps of the simulation is fixed. Set this to 0.0 to work with a variable time-step, as happens by default.

Methods

- **\__init__**(**self**, **synchronous_mode**=False, **no_rendering_mode**=False, **fixed_delta_seconds**=0.0) Creates an object containing desired settings that could later be applied through [carla.World](#carla.World) and its method **apply_settings()**. - **Parameters:** - `synchronous_mode` (_bool_) – Set this to true to enable client-server synchrony. - `no_rendering_mode` (_bool_) – Set this to true to completely disable rendering in the simulation. - `fixed_delta_seconds` (_float_) – Set this time in seconds to get a fixed time-step in between frames. 0.0 means variable time-step and it is the default mode. - **\__eq__**(**self**, **other**) Returns True if both objects' variables are the same. - **Parameters:** - `other` (_[carla.WorldSettings](#carla.WorldSettings)_) – Settings to be compared with. - **Return:** _bool_ - **\__ne__**(**self**, **other**) Returns True if both objects' variables are different. - **Parameters:** - `other` (_[carla.WorldSettings](#carla.WorldSettings)_) – Settings to be compared with. - **Return:** _bool_ - **\__str__**(**self**) Parses the established settings to a string and shows them in command line. - **Return:** _str_

---

carla.WorldSnapshot

This snapshot comprises all the information for every actor on scene at a certain moment of time. It creates and gives acces to a data structure containing a series of carla.ActorSnapshot. The client recieves a new snapshot on every tick that cannot be stored.

Instance Variables

- **id** (_int_) A value unique for every snapshot to differenciate them. - **frame** (_int_) Simulation frame in which the snapshot was taken. - **timestamp** (_[carla.Timestamp](#carla.Timestamp)_) Precise moment in time when snapshot was taken. This class works in seconds as given by the operative system.

Methods

- **\__eq__**(**self**, **other**) Returns True if both **timestamp** are the same. - **Parameters:** - `other` (_[carla.WorldSnapshot](#carla.WorldSnapshot)_) - **Return:** _bool_ - **\__iter__**(**self**) Method that enables iteration for this class using **timestamp** as reference value. - **\__ne__**(**self**, **other**) Returns True if both **timestamp** are different. - **Parameters:** - `other` (_[carla.WorldSnapshot](#carla.WorldSnapshot)_) - **Return:** _bool_ - **\__len__**(**self**) Returns the amount of [carla.ActorSnapshot](#carla.ActorSnapshot) present in this snapshot. - **Return:** _int_ - **find**(**self**, **actor_id**) Given a certain actor ID, returns its corresponding snapshot or None if it is not found. - **Parameters:** - `actor_id` (_int_) - **Return:** _[carla.ActorSnapshot](#carla.ActorSnapshot)_ - **has_actor**(**self**, **actor_id**) Given a certain actor ID, checks if there is a snapshot corresponding it and so, if the actor was present at that moment. - **Parameters:** - `actor_id` (_int_) - **Return:** _bool_

---

command.ApplyAngularVelocity

Command adaptation of set_angular_velocity() in carla.Actor. Sets an actor's angular velocity.

Instance Variables

- **actor_id** (_int_) Actor affected by the command. - **angular_velocity** (_[carla.Vector3D](#carla.Vector3D)_) The 3D angular velocity that will be applied to the actor.

Methods

- **\__init__**(**self**, **actor**, **angular_velocity**) - **Parameters:** - `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to. - `angular_velocity` (_[carla.Vector3D](#carla.Vector3D)_)

---

command.ApplyImpulse

Command adaptation of add_impulse() in carla.Actor. Adds impulse to an actor.

Instance Variables

- **actor_id** (_int_) Actor affected by the command. - **impulse** (_[carla.Vector3D](#carla.Vector3D)_) Impulse applied to the actor.

Methods

- **\__init__**(**self**, **actor**, **impulse**) - **Parameters:** - `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to. - `impulse` (_[carla.Vector3D](#carla.Vector3D)_)

---

command.ApplyTransform

Command adaptation of set_transform() in carla.Actor. Sets a new transform to an actor.

Instance Variables

- **actor_id** (_int_) Actor affected by the command. - **transform** (_[carla.Transform](#carla.Transform)_) Transformation to be applied.

Methods

- **\__init__**(**self**, **actor**, **transform**) - **Parameters:** - `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to. - `transform` (_[carla.Transform](#carla.Transform)_)

---

command.ApplyVehicleControl

Command adaptation of apply_control() in carla.Vehicle. Applies a certain control to a vehicle.

Instance Variables

- **actor_id** (_int_) Vehicle actor affected by the command. - **control** (_[carla.VehicleControl](#carla.VehicleControl)_) Vehicle control to be applied.

Methods

- **\__init__**(**self**, **actor**, **control**) - **Parameters:** - `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to. - `control` (_[carla.VehicleControl](#carla.VehicleControl)_)

---

command.ApplyVelocity

Command adaptation of set_velocity() in carla.Actor. Sets an actor's velocity.

Instance Variables

- **actor_id** (_int_) Actor affected by the command. - **velocity** (_[carla.Vector3D](#carla.Vector3D)_) The 3D velocity applied to the actor.

Methods

- **\__init__**(**self**, **actor**, **velocity**) - **Parameters:** - `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to. - `velocity` (_[carla.Vector3D](#carla.Vector3D)_)

---

command.ApplyWalkerControl

Command adaptation of apply_control() in carla.Walker. Applies a control to a walker.

Instance Variables

- **actor_id** (_int_) Walker actor affected by the command. - **control** (_[carla.WalkerControl](#carla.WalkerControl)_) Walker control to be applied.

Methods

- **\__init__**(**self**, **actor**, **control**) - **Parameters:** - `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to. - `control` (_[carla.WalkerControl](#carla.WalkerControl)_)

---

command.ApplyWalkerState

Apply a state to the walker actor. Specially useful to initialize an actor them with a specific location, orientation and speed.

Instance Variables

- **actor_id** (_int_) Walker actor affected by the command. - **transform** (_[carla.Transform](#carla.Transform)_) Transform to be applied. - **speed** (_float_) Speed to be applied.

Methods

- **\__init__**(**self**, **actor**, **transform**, **speed**) - **Parameters:** - `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to. - `transform` (_[carla.Transform](#carla.Transform)_) - `speed` (_float_)

---

command.DestroyActor

Command adaptation of destroy() in carla.Actor that tells the simulator to destroy this actor. It has no effect if the actor was already destroyed. When executed with apply_batch_synch() in carla.Client there will be a command.Response that will return a boolean stating whether the actor was successfully destroyed.

Instance Variables

- **actor_id** (_int_) Actor affected by the command.

Methods

- **\__init__**(**self**, **actor**) - **Parameters:** - `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to.

---

command.Response

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 apply_batch_sync() in carla.Client returns a list of these to summarize the execution of a batch.

Instance Variables

- **actor_id** (_int_) Actor to whom the command was applied to. States that the command was successful. - **error** (_str_) A string stating the command has failed.

Methods

- **has_error**(**self**) Returns True if the command represents a successful execution and False if not. - **Return:** _bool_

---

command.SetAutopilot

Command adaptation of set_autopilot() in carla.Vehicle. Turns on/off the vehicle's server-side autopilot.

Instance Variables

- **actor_id** (_int_) Actor that is affected by the command. - **enabled** (_bool_) If autopilot should be activated or not.

Methods

- **\__init__**(**self**, **actor**, **enabled**) - **Parameters:** - `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to. - `enabled` (_bool_)

---

command.SetSimulatePhysics

Command adaptation of set_simulate_physics() in carla.Actor. Determines whether an actor will be affected by physics or not.

Instance Variables

- **actor_id** (_int_) Actor affected by the command. - **enabled** (_bool_) If physics should be activated or not.

Methods

- **\__init__**(**self**, **actor**, **enabled**) - **Parameters:** - `actor` (_[carla.Actor](#carla.Actor) or int_) – Actor or its ID to whom the command will be applied to. - `enabled` (_bool_)

---

command.SpawnActor

Command adaptation of spawn_actor() 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.

Instance Variables

- **transform** (_[carla.Transform](#carla.Transform)_) Transform to be applied. - **parent_id** (_int_) Identificator of the parent actor.

Methods

- **\__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` (_[carla.Command](#carla.Command)_) – CommandType.

---