Python API Reference

Important

Versions prior to 0.9.0 have a very different API. For the documentation of the stable version please switch to the stable branch.

carla.Client

  • Client(host, port, worker_threads=0)
  • set_timeout(float_seconds)
  • get_client_version()
  • get_server_version()
  • get_world()
  • get_available_maps()
  • reload_world()
  • load_world(map_name)
  • start_recorder(string filename)
  • replay_file(string filename, float start, float duration, int camera_follow_id)
  • show_recorder_file_info(string filename)
  • show_recorder_collisions(string filename, char category1, char category2)
  • show_recorder_actors_blocked(string filename, float min_time, float min_distance)
  • apply_batch(commands, do_tick=False)
  • apply_batch_sync(commands, do_tick=False) -> list(carla.command.Response)

carla.World

  • id
  • debug
  • get_blueprint_library()
  • get_map()
  • get_spectator()
  • get_settings()
  • apply_settings(world_settings)
  • get_weather()
  • set_weather(weather_parameters)
  • get_actors(actor_ids=None) -> carla.ActorList
  • spawn_actor(blueprint, transform, attach_to=None)
  • try_spawn_actor(blueprint, transform, attach_to=None)
  • wait_for_tick(seconds=1.0)
  • on_tick(callback)
  • tick()

carla.WorldSettings

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

carla.DebugHelper

  • draw_point(location, size=0.1, color=carla.Color(), life_time=-1.0, persistent_lines=True)
  • draw_line(begin, end, thickness=0.1, color=carla.Color(), life_time=-1.0, persistent_lines=True)
  • draw_arrow(begin, end, thickness=0.1, arrow_size=0.1, color=carla.Color(), life_time=-1.0, persistent_lines=True)
  • draw_box(box, rotation, thickness=0.1, color=carla.Color(), life_time=-1.0, persistent_lines=True)
  • draw_string(location, text, draw_shadow=False, color=carla.Color(), life_time=-1.0, persistent_lines=True)

carla.BlueprintLibrary

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

carla.ActorBlueprint

  • id
  • tags
  • has_tag(tag)
  • match_tags(wildcard_pattern)
  • has_attribute(key)
  • get_attribute(key)
  • set_attribute(key, value)
  • __len__()
  • __iter__()

carla.ActorAttribute

  • id
  • type
  • recommended_values
  • is_modifiable
  • as_bool()
  • as_int()
  • as_float()
  • as_str()
  • as_color()
  • __eq__(other)
  • __ne__(other)
  • __nonzero__()
  • __bool__()
  • __int__()
  • __float__()
  • __str__()

carla.ActorList

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

carla.Actor

  • id
  • type_id
  • parent
  • semantic_tags
  • is_alive
  • attributes
  • get_world()
  • get_location()
  • get_transform()
  • get_velocity()
  • get_angular_velocity()
  • get_acceleration()
  • set_location(location)
  • set_transform(transform)
  • set_velocity(vector)
  • set_angular_velocity(vector)
  • add_impulse(vector)
  • set_simulate_physics(enabled=True)
  • destroy()
  • __str__()

carla.Vehicle(carla.Actor)

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

carla.TrafficLight(carla.Actor)

  • state
  • set_state(traffic_light_state)
  • get_state()
  • set_green_time(green_time)
  • get_green_time()
  • set_yellow_time(yellow_time)
  • get_yellow_time()
  • set_red_time(red_time)
  • get_red_time()
  • get_elapsed_time()
  • freeze(True)
  • is_frozen()
  • get_pole_index()
  • get_group_traffic_lights()

carla.Sensor(carla.Actor)

  • is_listening
  • listen(callback_function)
  • stop()

carla.SensorData

  • frame_number
  • timestamp
  • transform

carla.Image(carla.SensorData)

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

carla.LidarMeasurement(carla.SensorData)

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

carla.CollisionEvent(carla.SensorData)

  • actor
  • other_actor
  • normal_impulse

carla.LaneInvasionEvent(carla.SensorData)

  • actor
  • crossed_lane_markings

carla.GnssEvent(carla.SensorData)

  • latitude
  • longitude
  • altitude

carla.ObstacleDetectionSensorEvent(carla.SensorData)

  • actor
  • other_actor
  • distance

carla.VehicleControl

  • throttle
  • steer
  • brake
  • hand_brake
  • reverse
  • gear
  • manual_gear_shift
  • __eq__(other)
  • __ne__(other)

carla.WheelsPhysicsControl

  • tire_friction
  • damping_rate
  • steer_angle
  • disable_steering
  • __eq__(other)
  • __ne__(other)

carla.VehiclePhysicsControl

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

carla.Map

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

carla.LaneType

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

carla.LaneChange

  • NONE
  • Right
  • Left
  • Both

carla.LaneMarkingColor

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

carla.LaneMarkingType

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

carla.LaneMarking

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

carla.Waypoint

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

carla.WeatherParameters

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

Static presets

  • carla.WeatherParameters.ClearNoon
  • carla.WeatherParameters.CloudyNoon
  • carla.WeatherParameters.WetNoon
  • carla.WeatherParameters.WetCloudyNoon
  • carla.WeatherParameters.MidRainyNoon
  • carla.WeatherParameters.HardRainNoon
  • carla.WeatherParameters.SoftRainNoon
  • carla.WeatherParameters.ClearSunset
  • carla.WeatherParameters.CloudySunset
  • carla.WeatherParameters.WetSunset
  • carla.WeatherParameters.WetCloudySunset
  • carla.WeatherParameters.MidRainSunset
  • carla.WeatherParameters.HardRainSunset
  • carla.WeatherParameters.SoftRainSunset

carla.Vector3D

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

carla.Location

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

carla.Rotation

  • pitch
  • yaw
  • roll
  • get_forward_vector()
  • __eq__(other)
  • __ne__(other)

carla.Transform

  • location
  • rotation
  • transform(geom_object)
  • get_forward_vector()
  • __eq__(other)
  • __ne__(other)

carla.BoundingBox

  • location
  • extent
  • __eq__(other)
  • __ne__(other)

carla.Timestamp

  • frame_count
  • elapsed_seconds
  • delta_seconds
  • platform_timestamp
  • __eq__(other)
  • __ne__(other)

carla.Color

  • r
  • g
  • b
  • a
  • __eq__(other)
  • __ne__(other)

carla.ColorConverter

  • Raw
  • Depth
  • LogarithmicDepth
  • CityScapesPalette

carla.ActorAttributeType

  • Bool
  • Int
  • Float
  • RGBColor

carla.TrafficLightState

  • Red
  • Yellow
  • Green
  • Off
  • Unknown

carla.LaneMarking

  • Other
  • Broken
  • Solid

module carla.command

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

carla.command.Response

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

carla.command.SpawnActor

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

carla.command.DestroyActor

  • __init__(actor)
  • actor_id

carla.command.ApplyVehicleControl

  • __init__(actor, control)
  • actor_id
  • control

carla.command.ApplyWalkerControl

  • __init__(actor, control)
  • actor_id
  • control

carla.command.ApplyTransform

  • __init__(actor, transform)
  • actor_id
  • transform

carla.command.ApplyVelocity

  • __init__(actor, velocity)
  • actor_id
  • velocity

carla.command.ApplyAngularVelocity

  • __init__(actor, angular_velocity)
  • actor_id
  • angular_velocity

carla.command.ApplyImpulse

  • __init__(actor, impulse)
  • actor_id
  • impulse

carla.command.SetSimulatePhysics

  • __init__(actor, bool)
  • actor_id
  • enabled

carla.command.SetAutopilot

  • __init__(actor, bool)
  • actor_id
  • enabled