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](https://carla.readthedocs.io/en/stable/). ## `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)` ## `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()` - `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_acceleration()` - `set_location(location)` - `set_transform(transform)` - `set_simulate_physics(enabled=True)` - `destroy()` ## `carla.Vehicle(carla.Actor)` - `bounding_box` - `apply_control(vehicle_control)` - `get_control()` - `set_autopilot(enabled=True)` - `get_physics_control()` - `apply_physics_control(vehicle_physics_control)` - `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` - `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` - `__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)` - `get_topology()` - `generate_waypoints(distance)` - `to_opendrive()` - `save_to_disk(path=self.name)` ## `carla.Waypoint` - `transform` - `is_intersection` - `lane_width` - `road_id` - `lane_id` - `lane_change` - `lane_type` - `next(distance)` - `get_right_lane()` - `get_left_lane()` ## `carla.LaneChange` - `None` - `Right` - `Left` - `Both` ## `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.DestroyActor` - `actor_id` ## `carla.command.ApplyVehicleControl` - `actor_id` - `control` ## `carla.command.ApplyWalkerControl` - `actor_id` - `control` ## `carla.command.ApplyTransform` - `actor_id` - `transform` ## `carla.command.ApplyVelocity` - `actor_id` - `velocity` ## `carla.command.ApplyAngularVelocity` - `actor_id` - `angular_velocity` ## `carla.command.ApplyImpulse` - `actor_id` - `impulse` ## `carla.command.SetSimulatePhysics` - `actor_id` - `enabled` ## `carla.command.SetAutopilot` - `actor_id` - `enabled`