Implementation:CARLA simulator Carla Python Blueprint Bindings

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

Overview

Boost.Python binding file that exposes the blueprint system (ActorBlueprint, BlueprintLibrary, ActorAttribute, Color) to the CARLA Python API.

Description

This file defines the export_blueprint() function that registers CARLA's blueprint-related C++ classes with Boost.Python. It exposes the ActorAttributeType enumeration (Bool, Int, Float, String, RGBColor), the Color class with RGBA components, FloatColor for floating-point colors, OpticalFlowPixel for optical flow data, ActorAttribute with type conversion methods (as_bool, as_int, as_float, as_str, as_color) and comparison operators, ActorBlueprint with tag matching (has_tag, match_tags) and attribute access (has_attribute, get_attribute, set_attribute), and BlueprintLibrary with filtering capabilities (find, filter, filter_by_attribute). The BlueprintLibrary supports Python iteration and indexing protocols.

Usage

This binding is used whenever a Python script needs to discover, filter, or configure actor blueprints before spawning actors in the simulation. It is the entry point for selecting vehicle models, sensor types, and other actor templates.

Code Reference

Source Location

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

Signature

void export_blueprint();

// Key classes exposed:
class_<cc::ActorAttribute>("ActorAttribute", no_init)
class_<cc::ActorBlueprint>("ActorBlueprint", no_init)
class_<cc::BlueprintLibrary>("BlueprintLibrary", no_init)
class_<csd::Color>("Color")
class_<crpc::FloatColor>("FloatColor")

Import

import carla
bp_library = world.get_blueprint_library()
bp = bp_library.find('vehicle.tesla.model3')

I/O Contract

Inputs

Name	Type	Required	Description
id	str	Yes (for find)	Blueprint identifier string
wildcard_pattern	str	Yes (for filter)	Wildcard pattern to filter blueprints
name	str	Yes (for set_attribute)	Attribute name to set
value	str	Yes (for set_attribute)	Attribute value to set

Outputs

Name	Type	Description
blueprint	carla.ActorBlueprint	A single blueprint matching the query
filtered_library	carla.BlueprintLibrary	Subset of blueprints matching filter
attribute	carla.ActorAttribute	Attribute value with type info

Usage Examples

import carla

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

# Filter for all vehicles
vehicles = bp_library.filter('vehicle.*')

# Find a specific blueprint
bp = bp_library.find('vehicle.lincoln.mkz_2017')

# Set attributes
if bp.has_attribute('color'):
    bp.set_attribute('color', '255,0,0')

# Iterate over all blueprints
for bp in bp_library:
    print(bp.id, bp.tags)

Related Pages

• Environment:CARLA_simulator_Carla_Python_API_Runtime