Implementation:CARLA simulator Carla Python Actor Bindings

Knowledge Sources	CARLA
Domains	Python Bindings, Simulation Actors
Last Updated	2026-02-15 05:00 GMT

Overview

Boost.Python binding file that exposes the C++ Actor class hierarchy (Actor, Vehicle, Walker, WalkerAIController, TrafficSign, TrafficLight) to the CARLA Python API.

Description

This file defines the export_actor() function that registers CARLA's actor-related C++ classes with Boost.Python so they are accessible from Python. It exposes the base Actor class with properties such as id, type_id, parent, semantic_tags, actor_state, and bounding_box, along with methods for physics manipulation (add_impulse, add_force, set_simulate_physics, set_enable_gravity). The file also binds the Vehicle subclass with vehicle-specific controls (apply_control, apply_ackermann_control, set_light_state, open_door/close_door), the Walker class for pedestrian control, the WalkerAIController for autonomous pedestrian navigation, and the TrafficLight / TrafficSign classes for traffic infrastructure. Several enumerations are exposed including ActorState, VehicleLightState, VehicleWheelLocation, VehicleDoor, VehicleFailureState, and TrafficLightState.

Usage

This binding is compiled into the carla Python module and is loaded automatically when a user imports carla. It provides the Python-side classes used to interact with actors in a running simulation (e.g., spawning vehicles, applying controls, querying actor state).

Code Reference

Source Location

• Repository: CARLA
• File: PythonAPI/carla/src/Actor.cpp

Signature

void export_actor();

// Key classes exposed:
class_<cc::Actor>("Actor", no_init)
class_<cc::Vehicle, bases<cc::Actor>>("Vehicle", no_init)
class_<cc::Walker, bases<cc::Actor>>("Walker", no_init)
class_<cc::WalkerAIController, bases<cc::Actor>>("WalkerAIController", no_init)
class_<cc::TrafficSign, bases<cc::Actor>>("TrafficSign", no_init)
class_<cc::TrafficLight, bases<cc::TrafficSign>>("TrafficLight", no_init)

Import

import carla
actor = world.get_actors()[0]  # returns carla.Actor
vehicle = world.spawn_actor(bp, transform)  # returns carla.Vehicle

I/O Contract

Inputs

Name	Type	Required	Description
control	carla.VehicleControl	Yes (for apply_control)	Vehicle control commands (throttle, steer, brake)
impulse	carla.Vector3D	Yes (for add_impulse)	Impulse vector to apply to actor
force	carla.Vector3D	Yes (for add_force)	Force vector to apply to actor
location	carla.Location	Yes (for set_location)	New location for the actor
transform	carla.Transform	Yes (for set_transform)	New transform for the actor

Outputs

Name	Type	Description
id	int	Unique actor identifier
type_id	str	Blueprint type identifier string
actor_state	carla.ActorState	Current state (Invalid, Active, Dormant)
bounding_box	carla.BoundingBox	Axis-aligned bounding box of the actor
velocity	carla.Vector3D	Current velocity vector

Usage Examples

import carla

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

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

# Apply control
control = carla.VehicleControl(throttle=1.0, steer=0.0)
vehicle.apply_control(control)

# Query state
print(vehicle.get_velocity())
print(vehicle.get_light_state())

# Open a door
vehicle.open_door(carla.VehicleDoor.FL)

# Destroy actor
vehicle.destroy()

Related Pages

• Environment:CARLA_simulator_Carla_Python_API_Runtime