Implementation:CARLA simulator Carla World API Spec
| Knowledge Sources | |
|---|---|
| Domains | Simulation, Autonomous Driving, API Specification |
| Last Updated | 2026-02-15 05:00 GMT |
Overview
YML specification file that defines world-level classes in the CARLA Python API, including Timestamp, ActorList, WorldSettings, World, WorldSnapshot, and DebugHelper.
Description
This YML file specifies the classes that manage the simulation world state in CARLA. Timestamp contains frame count, elapsed_seconds, delta_seconds, and platform_timestamp. ActorList provides access to all actors in the scene with filter(), find(), iteration, and length methods. WorldSettings controls simulation configuration including synchronous_mode, no_rendering_mode, fixed_delta_seconds, substepping, tile_stream_distance, and actor_active_distance. The World class is the central hub providing methods for actor spawning (spawn_actor, try_spawn_actor), retrieving actors, accessing the map, getting/applying settings, weather control, tick/wait_for_tick synchronization, and debug drawing. WorldSnapshot captures the state of all actors at a specific frame.
Usage
Use the World class (obtained via client.get_world()) as the primary interface for interacting with the simulation: spawning actors, configuring settings, retrieving map data, and managing the simulation tick loop.
Code Reference
Source Location
- Repository: CARLA
- File: PythonAPI/docs/world.yml
Signature
- module_name: carla
classes:
- class_name: Timestamp
instance_variables:
- var_name: frame # type: int
- var_name: elapsed_seconds # type: float (seconds)
- var_name: delta_seconds # type: float (seconds)
- var_name: platform_timestamp # type: float (seconds)
- class_name: ActorList
methods:
- def_name: filter(wildcard_pattern) # return: list
- def_name: find(actor_id) # return: carla.Actor
- def_name: __getitem__(pos)
- def_name: __iter__
- def_name: __len__
- class_name: WorldSettings
instance_variables:
- var_name: synchronous_mode # type: bool
- var_name: no_rendering_mode # type: bool
- var_name: fixed_delta_seconds # type: float
- var_name: substepping # type: bool
- var_name: tile_stream_distance # type: float
- var_name: actor_active_distance # type: float
Import
import carla
client = carla.Client('localhost', 2000)
world = client.get_world()
settings = world.get_settings()
I/O Contract
| Class | Key Members | Description |
|---|---|---|
| Timestamp | frame, elapsed_seconds, delta_seconds | Simulation time information |
| ActorList | filter(), find(), __len__ | Collection of all actors in scene |
| WorldSettings | synchronous_mode, no_rendering_mode, fixed_delta_seconds | Simulation configuration |
| World | spawn_actor(), get_actors(), get_map(), tick() | Central simulation interface |
| WorldSnapshot | timestamp, find(), has_actor() | Frozen state at a specific frame |
Usage Examples
import carla
client = carla.Client('localhost', 2000)
world = client.get_world()
# Configure synchronous mode
settings = world.get_settings()
settings.synchronous_mode = True
settings.fixed_delta_seconds = 0.05
world.apply_settings(settings)
# Spawn an actor
bp = world.get_blueprint_library().find('vehicle.tesla.model3')
sp = world.get_map().get_spawn_points()[0]
vehicle = world.spawn_actor(bp, sp)
# Simulation loop
for _ in range(100):
world.tick()
snapshot = world.get_snapshot()
print(f"Frame: {snapshot.timestamp.frame}")
# Get all vehicles
actors = world.get_actors()
vehicles = actors.filter('vehicle.*')
print(f"Total vehicles: {len(vehicles)}")