Implementation:CARLA simulator Carla Actor API Spec

Knowledge Sources	CARLA
Domains	Simulation, Autonomous Driving, API Specification
Last Updated	2026-02-15 05:00 GMT

Overview

YML specification file that defines the carla.Actor class API, including all instance variables, methods, and documentation for the base actor type in the CARLA Python API.

Description

This YML file serves as the canonical API specification for the Actor class within the CARLA simulator's Python API. Actors are defined as anything that plays a role in the simulation or can be moved around, including pedestrians, vehicles, sensors, and traffic signs. The specification documents instance variables such as attributes, id, type_id, is_alive, is_active, is_dormant, parent, semantic_tags, actor_state, and bounding_box. It also defines methods for physics manipulation (add_angular_impulse, add_force, add_impulse, add_torque), lifecycle management (destroy), velocity control (enable_constant_velocity, disable_constant_velocity), and state queries (get_acceleration, get_transform, get_velocity). This file is consumed by the documentation generator (doc_gen.py) to produce the official CARLA Python API reference documentation.

Usage

Use this specification when referencing or extending the Actor class API. It is consumed by the doc_gen.py script to auto-generate Markdown documentation. Developers maintaining or extending the CARLA Python API should update this file when adding or modifying Actor-level methods or properties.

Code Reference

Source Location

Repository: CARLA
File: PythonAPI/docs/actor.yml

Signature

- module_name: carla
  classes:
  - class_name: Actor
    instance_variables:
    - var_name: attributes       # type: dict
    - var_name: id               # type: int
    - var_name: type_id          # type: str
    - var_name: is_alive         # type: bool
    - var_name: is_active        # type: bool
    - var_name: is_dormant       # type: bool
    - var_name: parent           # type: carla.Actor
    - var_name: semantic_tags    # type: list(int)
    - var_name: actor_state      # type: carla.ActorState
    - var_name: bounding_box     # type: carla.BoundingBox
    methods:
    - def_name: add_angular_impulse
    - def_name: add_force
    - def_name: add_impulse
    - def_name: add_torque
    - def_name: destroy
    - def_name: disable_constant_velocity
    - def_name: enable_constant_velocity
    - def_name: get_acceleration

Import

# This YML file is consumed by the doc generator:
python doc_gen.py
# The Actor class is used via the carla module:
import carla
actor = world.spawn_actor(blueprint, transform)

I/O Contract

Field	Type	Description
module_name	string	Module namespace (carla)
classes	list	List of class definitions
class_name	string	Name of the class (Actor)
instance_variables	list	Properties exposed on the class
methods	list	Methods available on the class
def_name	string	Method name
params	list	Method parameters with type and doc
return	string	Return type of the method

Usage Examples

import carla

client = carla.Client('localhost', 2000)
world = client.get_world()

# Spawn an actor
blueprint = world.get_blueprint_library().find('vehicle.tesla.model3')
spawn_point = world.get_map().get_spawn_points()[0]
vehicle = world.spawn_actor(blueprint, spawn_point)

# Use Actor properties
print(vehicle.id)
print(vehicle.type_id)
print(vehicle.is_alive)

# Apply physics
vehicle.add_force(carla.Vector3D(1000, 0, 0))
vehicle.enable_constant_velocity(carla.Vector3D(10, 0, 0))

# Cleanup
vehicle.destroy()

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