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(milliseconds)
  • get_client_version()
  • get_server_version()
  • ping()
  • get_world()

carla.World

  • get_blueprint_library()
  • get_spectator()
  • spawn_actor(blueprint, transform, attach_to=None)
  • try_spawn_actor(blueprint, transform, attach_to=None)

carla.BlueprintLibrary

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

carla.ActorBlueprint

  • id
  • tags
  • contains_tag(tag)
  • match_tags(wildcard_pattern)
  • contains_attribute(key)
  • get_attribute(key)
  • set_attribute(key, value)
  • __len__
  • __iter__

carla.ActorAttribute

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

carla.Actor

  • id
  • type_id
  • get_world()
  • get_location()
  • get_transform()
  • set_location(location)
  • set_transform(transform)
  • destroy()

carla.Vehicle(carla.Actor)

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

carla.Sensor(carla.Actor)

  • listen(callback_function)

carla.Image

  • frame_number
  • width
  • height
  • type
  • fov
  • raw_data

carla.VehicleControl

  • throttle
  • steer
  • brake
  • hand_brake
  • reverse

carla.Location

  • x
  • y
  • z

carla.Rotation

  • pitch
  • yaw
  • roll

carla.Transform

  • location
  • rotation

carla.Color

  • r
  • g
  • b