Implementation:CARLA simulator Carla Blueprint 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 blueprint-related classes (ActorAttributeType, Color, FloatColor, ActorAttribute, ActorBlueprint, BlueprintLibrary) in the CARLA Python API.

Description

This YML file provides the canonical API specification for blueprint-related classes used to configure and spawn actors in CARLA. It defines ActorAttributeType (an enum with Bool, Int, Float, String, RGBColor), Color (a 32-bit RGBA color class with r, g, b, a components), FloatColor (a floating-point RGBA color class), ActorAttribute, ActorBlueprint, and BlueprintLibrary. The Color class provides constructors, equality operators, and string conversion. These classes form the foundation for selecting actor blueprints, configuring their attributes, and spawning them into the simulation world.

Usage

Use this specification when working with CARLA blueprint libraries, configuring actor attributes before spawning, or extending the blueprint system. It is consumed by doc_gen.py to produce API reference documentation.

Code Reference

Source Location

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

Signature

- module_name: carla
  classes:
  - class_name: ActorAttributeType
    instance_variables:
    - var_name: Bool
    - var_name: Int
    - var_name: Float
    - var_name: String
    - var_name: RGBColor

  - class_name: Color
    instance_variables:
    - var_name: r    # type: int (0-255)
    - var_name: g    # type: int (0-255)
    - var_name: b    # type: int (0-255)
    - var_name: a    # type: int (0-255)
    methods:
    - def_name: __init__
    - def_name: __eq__
    - def_name: __ne__
    - def_name: __str__

  - class_name: FloatColor
    instance_variables:
    - var_name: r    # type: float
    - var_name: g    # type: float
    - var_name: b    # type: float
    - var_name: a    # type: float

Import

import carla
color = carla.Color(255, 0, 0, 255)
blueprint_library = world.get_blueprint_library()

I/O Contract

Field	Type	Description
module_name	string	Module namespace (carla)
classes	list	Blueprint-related class definitions
ActorAttributeType	enum	Attribute type enum (Bool, Int, Float, String, RGBColor)
Color	class	32-bit RGBA color (0-255 per channel)
FloatColor	class	Floating-point RGBA color

Usage Examples

import carla

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

# Access blueprint library
bp_lib = world.get_blueprint_library()
vehicle_bps = bp_lib.filter('vehicle.*')

# Select and configure a blueprint
bp = bp_lib.find('vehicle.tesla.model3')
bp.set_attribute('color', '255,0,0')

# Use Color class
red = carla.Color(255, 0, 0)
float_red = carla.FloatColor(1.0, 0.0, 0.0)

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