diff --git a/src/scenic/simulators/carla/blueprints.py b/src/scenic/simulators/carla/blueprints.py
index 1293b1b4e..cce1ef720 100644
--- a/src/scenic/simulators/carla/blueprints.py
+++ b/src/scenic/simulators/carla/blueprints.py
@@ -1,9 +1,50 @@
+# AUTO-GENERATED. Do not edit by hand.
+# Built from tools/carla/make_blueprints.py
+
 """CARLA blueprints for cars, pedestrians, etc."""
 
-#: Mapping from current names of blueprints to ones in old CARLA versions.
-#:
-#: We provide a tuple of old names in case they change more than once.
+from importlib.metadata import PackageNotFoundError, version as _pkg_version
+import warnings
+
+from scenic.core.distributions import distributionFunction
+from scenic.core.errors import InvalidScenarioError
+
+try:
+    _CARLA_VER = _pkg_version("carla")
+except PackageNotFoundError:
+    _CARLA_VER = "0.0.0"  # no carla package; default to newest known blueprints
+
+
+def _verkey(s: str):
+    # Handle '0.9.15', '0.10.0', '1.2' -> (major, minor, patch)
+    parts = [int(p) for p in s.split(".")]
+    parts += [0] * (3 - len(parts))
+    return tuple(parts[:3])
+
+
+def _pick(vermap, ver):
+    """Choose the blueprint map for CARLA version"""
+    # 1) Exact match
+    if ver in vermap:
+        return vermap[ver]
+    # 2) If same major.minor, use the newest patch.
+    mm = ".".join(ver.split(".")[:2])
+    cands = [v for v in vermap if v.startswith(mm + ".")]
+    if cands:
+        best = max(cands, key=_verkey)
+        return vermap[best]
+    # 3) Otherwise, use the newest version.
+    best = max(vermap.keys(), key=_verkey)
+    if ver != "0.0.0":
+        warnings.warn(
+            f"Unknown CARLA version {ver}; using blueprints for {best}."
+            "Scenic may not have the correct set of blueprints."
+        )
+    return vermap[best]
+
+
 oldBlueprintNames = {
+    # Map current names to legacy names
     "vehicle.dodge.charger_police": ("vehicle.dodge_charger.police",),
     "vehicle.lincoln.mkz_2017": ("vehicle.lincoln.mkz2017",),
     "vehicle.mercedes.coupe": ("vehicle.mercedes-benz.coupe",),
@@ -11,223 +52,4208 @@
     "vehicle.ford.mustang": ("vehicle.mustang.mustang",),
 }
 
-## Vehicle blueprints
-
-#: blueprints for cars
-carModels = [
-    "vehicle.audi.a2",
-    "vehicle.audi.etron",
-    "vehicle.audi.tt",
-    "vehicle.bmw.grandtourer",
-    "vehicle.chevrolet.impala",
-    "vehicle.citroen.c3",
-    "vehicle.dodge.charger_police",
-    "vehicle.jeep.wrangler_rubicon",
-    "vehicle.lincoln.mkz_2017",
-    "vehicle.mercedes.coupe",
-    "vehicle.mini.cooper_s",
-    "vehicle.ford.mustang",
-    "vehicle.nissan.micra",
-    "vehicle.nissan.patrol",
-    "vehicle.seat.leon",
-    "vehicle.tesla.model3",
-    "vehicle.toyota.prius",
-    "vehicle.volkswagen.t2",
-]
-
-#: blueprints for bicycles
-bicycleModels = [
-    "vehicle.bh.crossbike",
-    "vehicle.diamondback.century",
-    "vehicle.gazelle.omafiets",
-]
-
-#: blueprints for motorcycles
-motorcycleModels = [
-    "vehicle.harley-davidson.low_rider",
-    "vehicle.kawasaki.ninja",
-    "vehicle.yamaha.yzf",
-]
-
-#: blueprints for trucks
-truckModels = [
-    "vehicle.carlamotors.carlacola",
-    "vehicle.tesla.cybertruck",
-]
-
-## Prop blueprints
-
-#: blueprints for trash cans
-trashModels = [
-    "static.prop.trashcan01",
-    "static.prop.trashcan02",
-    "static.prop.trashcan03",
-    "static.prop.trashcan04",
-    "static.prop.trashcan05",
-    "static.prop.bin",
-]
-
-#: blueprints for traffic cones
-coneModels = [
-    "static.prop.constructioncone",
-    "static.prop.trafficcone01",
-    "static.prop.trafficcone02",
-]
-
-#: blueprints for road debris
-debrisModels = [
-    "static.prop.dirtdebris01",
-    "static.prop.dirtdebris02",
-    "static.prop.dirtdebris03",
-]
-
-#: blueprints for vending machines
-vendingMachineModels = [
-    "static.prop.vendingmachine",
-]
-
-#: blueprints for chairs
-chairModels = [
-    "static.prop.plasticchair",
-]
-
-#: blueprints for bus stops
-busStopModels = [
-    "static.prop.busstop",
-]
-
-#: blueprints for roadside billboards
-advertisementModels = [
-    "static.prop.advertisement",
-    "static.prop.streetsign",
-    "static.prop.streetsign01",
-    "static.prop.streetsign04",
-]
-
-#: blueprints for pieces of trash
-garbageModels = [
-    "static.prop.colacan",
-    "static.prop.garbage01",
-    "static.prop.garbage02",
-    "static.prop.garbage03",
-    "static.prop.garbage04",
-    "static.prop.garbage05",
-    "static.prop.garbage06",
-    "static.prop.plasticbag",
-    "static.prop.trashbag",
-]
-
-#: blueprints for containers
-containerModels = [
-    "static.prop.container",
-    "static.prop.clothcontainer",
-    "static.prop.glasscontainer",
-]
-
-#: blueprints for tables
-tableModels = [
-    "static.prop.table",
-    "static.prop.plastictable",
-]
-
-#: blueprints for traffic barriers
-barrierModels = [
-    "static.prop.streetbarrier",
-    "static.prop.chainbarrier",
-    "static.prop.chainbarrierend",
-]
-
-#: blueprints for flowerpots
-plantpotModels = [
-    "static.prop.plantpot01",
-    "static.prop.plantpot02",
-    "static.prop.plantpot03",
-    "static.prop.plantpot04",
-    "static.prop.plantpot05",
-    "static.prop.plantpot06",
-    "static.prop.plantpot07",
-    "static.prop.plantpot08",
-]
-
-#: blueprints for mailboxes
-mailboxModels = [
-    "static.prop.mailbox",
-]
-
-#: blueprints for garden gnomes
-gnomeModels = [
-    "static.prop.gnome",
-]
-
-#: blueprints for creased boxes
-creasedboxModels = [
-    "static.prop.creasedbox01",
-    "static.prop.creasedbox02",
-    "static.prop.creasedbox03",
-]
-
-#: blueprints for briefcases, suitcases, etc.
-caseModels = [
-    "static.prop.travelcase",
-    "static.prop.briefcase",
-    "static.prop.guitarcase",
-]
-
-#: blueprints for boxes
-boxModels = [
-    "static.prop.box01",
-    "static.prop.box02",
-    "static.prop.box03",
-]
-
-#: blueprints for benches
-benchModels = [
-    "static.prop.bench01",
-    "static.prop.bench02",
-    "static.prop.bench03",
-]
-
-#: blueprints for barrels
-barrelModels = [
-    "static.prop.barrel",
-]
-
-#: blueprints for ATMs
-atmModels = [
-    "static.prop.atm",
-]
-
-#: blueprints for kiosks
-kioskModels = [
-    "static.prop.kiosk_01",
-]
-
-#: blueprints for iron plates
-ironplateModels = [
-    "static.prop.ironplank",
-]
-
-#: blueprints for traffic warning signs
-trafficwarningModels = [
-    "static.prop.trafficwarning",
-]
-
-## Walker blueprints
-
-#: blueprints for pedestrians
-walkerModels = [
-    "walker.pedestrian.0001",
-    "walker.pedestrian.0002",
-    "walker.pedestrian.0003",
-    "walker.pedestrian.0004",
-    "walker.pedestrian.0005",
-    "walker.pedestrian.0006",
-    "walker.pedestrian.0007",
-    "walker.pedestrian.0008",
-    "walker.pedestrian.0009",
-    "walker.pedestrian.0010",
-    "walker.pedestrian.0011",
-    "walker.pedestrian.0012",
-    "walker.pedestrian.0013",
-    "walker.pedestrian.0014",
-]
+_IDS = {
+    "0.10.0": {
+        "advertisementModels": [
+            "static.prop.advertisement",
+            "static.prop.streetsign",
+            "static.prop.streetsign01",
+            "static.prop.streetsign04",
+        ],
+        "atmModels": ["static.prop.atm"],
+        "barrelModels": ["static.prop.barrel"],
+        "barrierModels": [
+            "static.prop.chainbarrier",
+            "static.prop.chainbarrierend",
+            "static.prop.streetbarrier",
+        ],
+        "benchModels": ["static.prop.bench01", "static.prop.bench02"],
+        "bicycleModels": [],
+        "boxModels": [],
+        "busModels": ["vehicle.fuso.mitsubishi"],
+        "busStopModels": ["static.prop.busstop"],
+        "carModels": [
+            "vehicle.dodge.charger",
+            "vehicle.dodgecop.charger",
+            "vehicle.lincoln.mkz",
+            "vehicle.mini.cooper",
+            "vehicle.nissan.patrol",
+            "vehicle.taxi.ford",
+        ],
+        "caseModels": [
+            "static.prop.briefcase",
+            "static.prop.guitarcase",
+            "static.prop.travelcase",
+        ],
+        "chairModels": ["static.prop.plasticchair"],
+        "coneModels": [
+            "static.prop.constructioncone",
+            "static.prop.trafficcone01",
+            "static.prop.trafficcone02",
+        ],
+        "containerModels": ["static.prop.container"],
+        "creasedboxModels": ["static.prop.creasedbox01"],
+        "debrisModels": [
+            "static.prop.dirtdebris01",
+            "static.prop.dirtdebris02",
+            "static.prop.dirtdebris03",
+        ],
+        "garbageModels": [
+            "static.prop.colacan",
+            "static.prop.garbage01",
+            "static.prop.garbage02",
+            "static.prop.garbage03",
+            "static.prop.garbage04",
+            "static.prop.garbage05",
+            "static.prop.garbage06",
+            "static.prop.plasticbag",
+            "static.prop.platformgarbage01",
+            "static.prop.trashbag",
+        ],
+        "gnomeModels": ["static.prop.gnome"],
+        "ironplateModels": [],
+        "kioskModels": ["static.prop.kiosk_01"],
+        "mailboxModels": ["static.prop.mailbox"],
+        "motorcycleModels": [],
+        "plantpotModels": [
+            "static.prop.plantpot01",
+            "static.prop.plantpot02",
+            "static.prop.plantpot03",
+            "static.prop.plantpot04",
+            "static.prop.plantpot05",
+            "static.prop.plantpot06",
+            "static.prop.plantpot07",
+        ],
+        "tableModels": ["static.prop.maptable", "static.prop.plastictable"],
+        "trafficwarningModels": ["static.prop.trafficwarning"],
+        "trashModels": [
+            "static.prop.trashcan01",
+            "static.prop.trashcan02",
+            "static.prop.trashcan03",
+            "static.prop.trashcan04",
+        ],
+        "truckModels": [
+            "vehicle.ambulance.ford",
+            "vehicle.carlacola.actors",
+            "vehicle.firetruck.actors",
+        ],
+        "vanModels": ["vehicle.sprinter.mercedes"],
+        "vendingMachineModels": ["static.prop.vendingmachine"],
+        "walkerModels": [
+            "walker.pedestrian.0015",
+            "walker.pedestrian.0016",
+            "walker.pedestrian.0017",
+            "walker.pedestrian.0018",
+            "walker.pedestrian.0019",
+            "walker.pedestrian.0020",
+            "walker.pedestrian.0021",
+            "walker.pedestrian.0022",
+            "walker.pedestrian.0023",
+            "walker.pedestrian.0024",
+            "walker.pedestrian.0025",
+            "walker.pedestrian.0026",
+            "walker.pedestrian.0027",
+            "walker.pedestrian.0028",
+            "walker.pedestrian.0029",
+            "walker.pedestrian.0030",
+            "walker.pedestrian.0031",
+            "walker.pedestrian.0032",
+            "walker.pedestrian.0033",
+            "walker.pedestrian.0034",
+            "walker.pedestrian.0035",
+            "walker.pedestrian.0036",
+            "walker.pedestrian.0037",
+            "walker.pedestrian.0038",
+            "walker.pedestrian.0039",
+            "walker.pedestrian.0040",
+            "walker.pedestrian.0041",
+            "walker.pedestrian.0042",
+            "walker.pedestrian.0043",
+            "walker.pedestrian.0044",
+            "walker.pedestrian.0045",
+            "walker.pedestrian.0046",
+            "walker.pedestrian.0047",
+            "walker.pedestrian.0048",
+            "walker.pedestrian.0049",
+            "walker.pedestrian.0050",
+            "walker.pedestrian.0051",
+        ],
+    },
+    "0.9.16": {
+        "advertisementModels": [
+            "static.prop.advertisement",
+            "static.prop.streetsign",
+            "static.prop.streetsign01",
+            "static.prop.streetsign04",
+        ],
+        "atmModels": ["static.prop.atm"],
+        "barrelModels": ["static.prop.barrel"],
+        "barrierModels": [
+            "static.prop.chainbarrier",
+            "static.prop.chainbarrierend",
+            "static.prop.streetbarrier",
+        ],
+        "benchModels": [
+            "static.prop.bench01",
+            "static.prop.bench02",
+            "static.prop.bench03",
+        ],
+        "bicycleModels": [
+            "vehicle.bh.crossbike",
+            "vehicle.diamondback.century",
+            "vehicle.gazelle.omafiets",
+        ],
+        "boxModels": ["static.prop.box01", "static.prop.box02", "static.prop.box03"],
+        "busModels": ["vehicle.mitsubishi.fusorosa"],
+        "busStopModels": ["static.prop.busstop", "static.prop.busstoplb"],
+        "carModels": [
+            "vehicle.audi.a2",
+            "vehicle.audi.etron",
+            "vehicle.audi.tt",
+            "vehicle.bmw.grandtourer",
+            "vehicle.chevrolet.impala",
+            "vehicle.citroen.c3",
+            "vehicle.dodge.charger_2020",
+            "vehicle.dodge.charger_police",
+            "vehicle.dodge.charger_police_2020",
+            "vehicle.ford.crown",
+            "vehicle.ford.mustang",
+            "vehicle.jeep.wrangler_rubicon",
+            "vehicle.lincoln.mkz_2017",
+            "vehicle.lincoln.mkz_2020",
+            "vehicle.mercedes.coupe",
+            "vehicle.mercedes.coupe_2020",
+            "vehicle.micro.microlino",
+            "vehicle.mini.cooper_s",
+            "vehicle.mini.cooper_s_2021",
+            "vehicle.nissan.micra",
+            "vehicle.nissan.patrol",
+            "vehicle.nissan.patrol_2021",
+            "vehicle.seat.leon",
+            "vehicle.tesla.model3",
+            "vehicle.toyota.prius",
+        ],
+        "caseModels": [
+            "static.prop.briefcase",
+            "static.prop.guitarcase",
+            "static.prop.travelcase",
+        ],
+        "chairModels": ["static.prop.plasticchair"],
+        "coneModels": [
+            "static.prop.constructioncone",
+            "static.prop.trafficcone01",
+            "static.prop.trafficcone02",
+        ],
+        "containerModels": [
+            "static.prop.clothcontainer",
+            "static.prop.container",
+            "static.prop.glasscontainer",
+        ],
+        "creasedboxModels": [
+            "static.prop.creasedbox01",
+            "static.prop.creasedbox02",
+            "static.prop.creasedbox03",
+        ],
+        "debrisModels": [
+            "static.prop.dirtdebris01",
+            "static.prop.dirtdebris02",
+            "static.prop.dirtdebris03",
+        ],
+        "garbageModels": [
+            "static.prop.colacan",
+            "static.prop.garbage01",
+            "static.prop.garbage02",
+            "static.prop.garbage03",
+            "static.prop.garbage04",
+            "static.prop.garbage05",
+            "static.prop.garbage06",
+            "static.prop.plasticbag",
+            "static.prop.platformgarbage01",
+            "static.prop.trashbag",
+        ],
+        "gnomeModels": ["static.prop.gnome"],
+        "ironplateModels": ["static.prop.ironplank"],
+        "kioskModels": ["static.prop.kiosk_01"],
+        "mailboxModels": ["static.prop.mailbox"],
+        "motorcycleModels": [
+            "vehicle.harley-davidson.low_rider",
+            "vehicle.kawasaki.ninja",
+            "vehicle.vespa.zx125",
+            "vehicle.yamaha.yzf",
+        ],
+        "plantpotModels": [
+            "static.prop.plantpot01",
+            "static.prop.plantpot02",
+            "static.prop.plantpot03",
+            "static.prop.plantpot04",
+            "static.prop.plantpot05",
+            "static.prop.plantpot06",
+            "static.prop.plantpot07",
+            "static.prop.plantpot08",
+        ],
+        "tableModels": [
+            "static.prop.maptable",
+            "static.prop.plastictable",
+            "static.prop.table",
+        ],
+        "trafficwarningModels": ["static.prop.trafficwarning"],
+        "trashModels": [
+            "static.prop.bin",
+            "static.prop.trashcan01",
+            "static.prop.trashcan02",
+            "static.prop.trashcan03",
+            "static.prop.trashcan04",
+            "static.prop.trashcan05",
+        ],
+        "truckModels": [
+            "vehicle.carlamotors.carlacola",
+            "vehicle.carlamotors.european_hgv",
+            "vehicle.carlamotors.firetruck",
+            "vehicle.tesla.cybertruck",
+        ],
+        "vanModels": [
+            "vehicle.ford.ambulance",
+            "vehicle.mercedes.sprinter",
+            "vehicle.volkswagen.t2",
+            "vehicle.volkswagen.t2_2021",
+        ],
+        "vendingMachineModels": ["static.prop.vendingmachine"],
+        "walkerModels": [
+            "walker.pedestrian.0001",
+            "walker.pedestrian.0002",
+            "walker.pedestrian.0003",
+            "walker.pedestrian.0004",
+            "walker.pedestrian.0005",
+            "walker.pedestrian.0006",
+            "walker.pedestrian.0007",
+            "walker.pedestrian.0008",
+            "walker.pedestrian.0009",
+            "walker.pedestrian.0010",
+            "walker.pedestrian.0011",
+            "walker.pedestrian.0012",
+            "walker.pedestrian.0013",
+            "walker.pedestrian.0014",
+            "walker.pedestrian.0015",
+            "walker.pedestrian.0016",
+            "walker.pedestrian.0017",
+            "walker.pedestrian.0018",
+            "walker.pedestrian.0019",
+            "walker.pedestrian.0020",
+            "walker.pedestrian.0021",
+            "walker.pedestrian.0022",
+            "walker.pedestrian.0023",
+            "walker.pedestrian.0024",
+            "walker.pedestrian.0025",
+            "walker.pedestrian.0026",
+            "walker.pedestrian.0027",
+            "walker.pedestrian.0028",
+            "walker.pedestrian.0029",
+            "walker.pedestrian.0030",
+            "walker.pedestrian.0031",
+            "walker.pedestrian.0032",
+            "walker.pedestrian.0033",
+            "walker.pedestrian.0034",
+            "walker.pedestrian.0035",
+            "walker.pedestrian.0036",
+            "walker.pedestrian.0037",
+            "walker.pedestrian.0038",
+            "walker.pedestrian.0039",
+            "walker.pedestrian.0040",
+            "walker.pedestrian.0041",
+            "walker.pedestrian.0042",
+            "walker.pedestrian.0043",
+            "walker.pedestrian.0044",
+            "walker.pedestrian.0045",
+            "walker.pedestrian.0046",
+            "walker.pedestrian.0047",
+            "walker.pedestrian.0048",
+            "walker.pedestrian.0049",
+            "walker.pedestrian.0050",
+            "walker.pedestrian.0051",
+            "walker.pedestrian.0052",
+        ],
+    },
+    "0.9.15": {
+        "advertisementModels": [
+            "static.prop.advertisement",
+            "static.prop.streetsign",
+            "static.prop.streetsign01",
+            "static.prop.streetsign04",
+        ],
+        "atmModels": ["static.prop.atm"],
+        "barrelModels": ["static.prop.barrel"],
+        "barrierModels": [
+            "static.prop.chainbarrier",
+            "static.prop.chainbarrierend",
+            "static.prop.streetbarrier",
+        ],
+        "benchModels": [
+            "static.prop.bench01",
+            "static.prop.bench02",
+            "static.prop.bench03",
+        ],
+        "bicycleModels": [
+            "vehicle.bh.crossbike",
+            "vehicle.diamondback.century",
+            "vehicle.gazelle.omafiets",
+        ],
+        "boxModels": ["static.prop.box01", "static.prop.box02", "static.prop.box03"],
+        "busModels": ["vehicle.mitsubishi.fusorosa"],
+        "busStopModels": ["static.prop.busstop", "static.prop.busstoplb"],
+        "carModels": [
+            "vehicle.audi.a2",
+            "vehicle.audi.etron",
+            "vehicle.audi.tt",
+            "vehicle.bmw.grandtourer",
+            "vehicle.chevrolet.impala",
+            "vehicle.citroen.c3",
+            "vehicle.dodge.charger_2020",
+            "vehicle.dodge.charger_police",
+            "vehicle.dodge.charger_police_2020",
+            "vehicle.ford.crown",
+            "vehicle.ford.mustang",
+            "vehicle.jeep.wrangler_rubicon",
+            "vehicle.lincoln.mkz_2017",
+            "vehicle.lincoln.mkz_2020",
+            "vehicle.mercedes.coupe",
+            "vehicle.mercedes.coupe_2020",
+            "vehicle.micro.microlino",
+            "vehicle.mini.cooper_s",
+            "vehicle.mini.cooper_s_2021",
+            "vehicle.nissan.micra",
+            "vehicle.nissan.patrol",
+            "vehicle.nissan.patrol_2021",
+            "vehicle.seat.leon",
+            "vehicle.tesla.model3",
+            "vehicle.toyota.prius",
+        ],
+        "caseModels": [
+            "static.prop.briefcase",
+            "static.prop.guitarcase",
+            "static.prop.travelcase",
+        ],
+        "chairModels": ["static.prop.plasticchair"],
+        "coneModels": [
+            "static.prop.constructioncone",
+            "static.prop.trafficcone01",
+            "static.prop.trafficcone02",
+        ],
+        "containerModels": [
+            "static.prop.clothcontainer",
+            "static.prop.container",
+            "static.prop.glasscontainer",
+        ],
+        "creasedboxModels": [
+            "static.prop.creasedbox01",
+            "static.prop.creasedbox02",
+            "static.prop.creasedbox03",
+        ],
+        "debrisModels": [
+            "static.prop.dirtdebris01",
+            "static.prop.dirtdebris02",
+            "static.prop.dirtdebris03",
+        ],
+        "garbageModels": [
+            "static.prop.colacan",
+            "static.prop.garbage01",
+            "static.prop.garbage02",
+            "static.prop.garbage03",
+            "static.prop.garbage04",
+            "static.prop.garbage05",
+            "static.prop.garbage06",
+            "static.prop.plasticbag",
+            "static.prop.platformgarbage01",
+            "static.prop.trashbag",
+        ],
+        "gnomeModels": ["static.prop.gnome"],
+        "ironplateModels": ["static.prop.ironplank"],
+        "kioskModels": ["static.prop.kiosk_01"],
+        "mailboxModels": ["static.prop.mailbox"],
+        "motorcycleModels": [
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+            "length": 0.3753577768802643,
+            "height": 1.2999999523162842,
+        },
+        "walker.pedestrian.0014": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.2999999523162842,
+        },
+        "walker.pedestrian.0015": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0016": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0017": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0018": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0019": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0020": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0021": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0022": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0023": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0024": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0025": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0026": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0027": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0028": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0029": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0030": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0031": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0032": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0033": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0034": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0035": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0036": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0037": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0038": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0039": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0040": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0041": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0042": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0043": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0044": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0045": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0046": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0047": {
+            "width": 0.3753577768802643,
+            "length": 0.3753577768802643,
+            "height": 1.8600000143051147,
+        },
+        "walker.pedestrian.0048": {
+            "width": 0.5,
+            "length": 0.5,
+            "height": 1.100000023841858,
+        },
+        "walker.pedestrian.0049": {
+            "width": 0.5,
+            "length": 0.5,
+            "height": 1.100000023841858,
+        },
+    },
+}
+
+ids = _pick(_IDS, _CARLA_VER)
+dims = _pick(_DIMS, _CARLA_VER)
+
+
+def any_in(category):
+    """Return all blueprint IDs for a category; raise if none recorded."""
+    model = category + "Models"
+    models = ids.get(model)
+    if models:
+        return models
+    raise InvalidScenarioError(
+        f"Scenic has no '{category}' blueprints recorded for CARLA {_CARLA_VER}."
+    )
+
+
+def _get_dim(bp_id, key, default):
+    """Return recorded dimension or ``default`` if missing/0.
+
+    Note: CARLA 0.9.14 bbox returns 0 for some blueprints (see CARLA issue #5841).
+    """
+    val = dims.get(bp_id, {}).get(key)
+    return val if val else default
+
+
+@distributionFunction
+def width(bp_id, default):
+    """Get width for ``bp_id``; return ``default`` if unknown."""
+    return _get_dim(bp_id, "width", default)
+
+
+@distributionFunction
+def length(bp_id, default):
+    """Get length for ``bp_id``; return ``default`` if unknown."""
+    return _get_dim(bp_id, "length", default)
+
+
+@distributionFunction
+def height(bp_id, default):
+    """Get height for ``bp_id``; return ``default`` if unknown."""
+    return _get_dim(bp_id, "height", default)
diff --git a/src/scenic/simulators/carla/model.scenic b/src/scenic/simulators/carla/model.scenic
index 3816f4c62..67d59759c 100644
--- a/src/scenic/simulators/carla/model.scenic
+++ b/src/scenic/simulators/carla/model.scenic
@@ -44,7 +44,7 @@ Global Parameters:
 import pathlib
 from scenic.domains.driving.model import *
 
-import scenic.simulators.carla.blueprints as blueprints
+import scenic.simulators.carla.blueprints as bp
 from scenic.simulators.carla.behaviors import *
 from scenic.simulators.utils.colors import Color
 
@@ -122,6 +122,12 @@ class CarlaActor(DrivingObject):
         carlaActor (dynamic): Set during simulations to the ``carla.Actor`` representing this
             object.
         blueprint (str): Identifier of the CARLA blueprint specifying the type of object.
+        defaultWidth (float): Default width to use if Scenic has no recorded dimensions for this blueprint. 
+        defaultLength (float): Default length to use if Scenic has no recorded dimensions for this blueprint. 
+        defaultHeight (float): Default height to use if Scenic has no recorded dimensions for this blueprint. 
+        width (float): Width for this blueprint; uses Scenic's recorded dimensions when available, otherwise ``defaultWidth``. 
+        length (float): Length for this blueprint; uses Scenic's recorded dimensions when available, otherwise ``defaultLength``. 
+        height (float): Height for this blueprint; uses Scenic's recorded dimensions when available, otherwise ``defaultHeight``.
         rolename (str): Can be used to differentiate specific actors during runtime. Default
             value ``None``.
         physics (bool): Whether physics is enabled for this object in CARLA. Default true.
@@ -130,8 +136,13 @@ class CarlaActor(DrivingObject):
     """
     carlaActor: None
     blueprint: None
+    defaultWidth: 1 
+    defaultLength: 1 
+    defaultHeight: 1 
+    width: bp.width(self.blueprint, self.defaultWidth) 
+    length: bp.length(self.blueprint, self.defaultLength) 
+    height: bp.height(self.blueprint, self.defaultHeight)
     rolename: None
-    color: None
     physics: True
     snapToGround: globalParameters.snapToGroundDefault
 
@@ -155,7 +166,7 @@ class CarlaActor(DrivingObject):
         else:
             self.carlaActor.set_velocity(cvel)
 
-class Vehicle(Vehicle, CarlaActor, Steers, _CarlaVehicle):
+class Vehicle(CarlaActor, Vehicle, Steers, _CarlaVehicle):
     """Abstract class for steerable vehicles."""
 
     def setThrottle(self, throttle):
@@ -182,7 +193,10 @@ class Car(Vehicle):
     The default ``blueprint`` (see `CarlaActor`) is a uniform distribution over the
     blueprints listed in :obj:`scenic.simulators.carla.blueprints.carModels`.
     """
-    blueprint: Uniform(*blueprints.carModels)
+    blueprint: Uniform(*bp.any_in("car"))
+    defaultWidth: 2 
+    defaultLength: 4.5 
+    defaultHeight: 1.5
 
     @property
     def isCar(self):
@@ -192,32 +206,45 @@ class NPCCar(Car):  # no distinction between these in CARLA
     pass
 
 class Bicycle(Vehicle):
-    width: 1
-    length: 2
-    blueprint: Uniform(*blueprints.bicycleModels)
-
+    blueprint: Uniform(*bp.any_in("bicycle"))
+    defaultWidth: 1 
+    defaultLength: 2 
+    defaultHeight: 1.5
 
 class Motorcycle(Vehicle):
-    width: 1
-    length:2
-    blueprint: Uniform(*blueprints.motorcycleModels)
-
+    blueprint: Uniform(*bp.any_in("motorcycle"))
+    defaultWidth: 1
+    defaultLength: 2 
+    defaultHeight: 1.5
 
 class Truck(Vehicle):
-    width: 3
-    length: 7
-    blueprint: Uniform(*blueprints.truckModels)
-
-
-class Pedestrian(Pedestrian, CarlaActor, Walks, _CarlaPedestrian):
+    blueprint: Uniform(*bp.any_in("truck"))
+    defaultWidth: 2.5
+    defaultLength: 7.5
+    defaultHeight: 3
+
+class Van(Vehicle):
+    blueprint: Uniform(*bp.any_in("van"))
+    defaultWidth: 2 
+    defaultLength: 5 
+    defaultHeight: 2
+
+class Bus(Vehicle):
+    blueprint: Uniform(*bp.any_in("bus"))
+    defaultWidth: 4 
+    defaultLength: 10
+    defaultHeight: 4
+
+class Pedestrian(CarlaActor, Pedestrian, Walks, _CarlaPedestrian):
     """A pedestrian.
 
     The default ``blueprint`` (see `CarlaActor`) is a uniform distribution over the
     blueprints listed in :obj:`scenic.simulators.carla.blueprints.walkerModels`.
     """
-    width: 0.5
-    length: 0.5
-    blueprint: Uniform(*blueprints.walkerModels)
+    blueprint: Uniform(*bp.any_in("walker"))
+    defaultWidth: 0.5 
+    defaultLength: 0.5 
+    defaultHeight: 1.5
     carlaController: None
 
     def setWalkingDirection(self, heading):
@@ -238,100 +265,99 @@ class Prop(CarlaActor):
     regionContainedIn: road
     position: new Point on road
     parentOrientation: Range(0, 360) deg
-    width: 0.5
-    length: 0.5
+    defaultWidth: 0.5
+    defaultLength: 0.5 
+    defaultHeight: 0.5
     physics: False
 
 class Trash(Prop):
-    blueprint: Uniform(*blueprints.trashModels)
+    blueprint: Uniform(*bp.any_in("trash"))
 
 
 class Cone(Prop):
-    blueprint: Uniform(*blueprints.coneModels)
+    blueprint: Uniform(*bp.any_in("cone"))
 
 
 class Debris(Prop):
-    blueprint: Uniform(*blueprints.debrisModels)
+    blueprint: Uniform(*bp.any_in("debris"))
 
 
 class VendingMachine(Prop):
-    blueprint: Uniform(*blueprints.vendingMachineModels)
-
+    blueprint: Uniform(*bp.any_in("vendingMachine"))
+ 
 
 class Chair(Prop):
-    blueprint: Uniform(*blueprints.chairModels)
-
+    blueprint: Uniform(*bp.any_in("chair"))
+ 
 
 class BusStop(Prop):
-    blueprint: Uniform(*blueprints.busStopModels)
+    blueprint: Uniform(*bp.any_in("busStop"))
 
 
 class Advertisement(Prop):
-    blueprint: Uniform(*blueprints.advertisementModels)
+    blueprint: Uniform(*bp.any_in("advertisement"))
 
 
 class Garbage(Prop):
-    blueprint: Uniform(*blueprints.garbageModels)
-
+    blueprint: Uniform(*bp.any_in("garbage"))
 
 class Container(Prop):
-    blueprint: Uniform(*blueprints.containerModels)
+    blueprint: Uniform(*bp.any_in("container"))
 
 
 class Table(Prop):
-    blueprint: Uniform(*blueprints.tableModels)
+    blueprint: Uniform(*bp.any_in("table"))
 
 
 class Barrier(Prop):
-    blueprint: Uniform(*blueprints.barrierModels)
+    blueprint: Uniform(*bp.any_in("barrier"))
 
 
 class PlantPot(Prop):
-    blueprint: Uniform(*blueprints.plantpotModels)
+    blueprint: Uniform(*bp.any_in("plantpot"))
 
 
 class Mailbox(Prop):
-    blueprint: Uniform(*blueprints.mailboxModels)
-
+    blueprint: Uniform(*bp.any_in("mailbox"))
 
 class Gnome(Prop):
-    blueprint: Uniform(*blueprints.gnomeModels)
+    blueprint: Uniform(*bp.any_in("gnome"))
 
 
 class CreasedBox(Prop):
-    blueprint: Uniform(*blueprints.creasedboxModels)
+    blueprint: Uniform(*bp.any_in("creasedbox"))
 
 
 class Case(Prop):
-    blueprint: Uniform(*blueprints.caseModels)
+    blueprint: Uniform(*bp.any_in("case"))
 
 
 class Box(Prop):
-    blueprint: Uniform(*blueprints.boxModels)
+    blueprint: Uniform(*bp.any_in("box"))
 
 
 class Bench(Prop):
-    blueprint: Uniform(*blueprints.benchModels)
+    blueprint: Uniform(*bp.any_in("bench"))
 
 
 class Barrel(Prop):
-    blueprint: Uniform(*blueprints.barrelModels)
+    blueprint: Uniform(*bp.any_in("barrel"))
 
 
 class ATM(Prop):
-    blueprint: Uniform(*blueprints.atmModels)
+    blueprint: Uniform(*bp.any_in("atm"))
 
 
 class Kiosk(Prop):
-    blueprint: Uniform(*blueprints.kioskModels)
+    blueprint: Uniform(*bp.any_in("kiosk"))
 
 
 class IronPlate(Prop):
-    blueprint: Uniform(*blueprints.ironplateModels)
+    blueprint: Uniform(*bp.any_in("ironplate"))
 
 
 class TrafficWarning(Prop):
-    blueprint: Uniform(*blueprints.trafficwarningModels)
+    blueprint: Uniform(*bp.any_in("trafficwarning"))
 
 
 ## Utility functions
diff --git a/tests/simulators/carla/test_blueprints.py b/tests/simulators/carla/test_blueprints.py
index 4b7dcba25..bd9534e89 100644
--- a/tests/simulators/carla/test_blueprints.py
+++ b/tests/simulators/carla/test_blueprints.py
@@ -7,49 +7,63 @@
 
 from test_actions import getCarlaSimulator
 
-from scenic.simulators.carla.blueprints import (
-    advertisementModels,
-    atmModels,
-    barrelModels,
-    barrierModels,
-    benchModels,
-    bicycleModels,
-    boxModels,
-    busStopModels,
-    carModels,
-    caseModels,
-    chairModels,
-    coneModels,
-    containerModels,
-    creasedboxModels,
-    debrisModels,
-    garbageModels,
-    gnomeModels,
-    ironplateModels,
-    kioskModels,
-    mailboxModels,
-    motorcycleModels,
-    plantpotModels,
-    tableModels,
-    trafficwarningModels,
-    trashModels,
-    truckModels,
-    vendingMachineModels,
-    walkerModels,
-)
+from scenic.simulators.carla import blueprints as bp
 from tests.utils import compileScenic, sampleScene
 
+# Map class name -> ids dict key
+CATEGORY_TO_CLASS = {
+    "carModels": "Car",
+    "bicycleModels": "Bicycle",
+    "motorcycleModels": "Motorcycle",
+    "truckModels": "Truck",
+    "vanModels": "Van",
+    "busModels": "Bus",
+    "trashModels": "Trash",
+    "coneModels": "Cone",
+    "debrisModels": "Debris",
+    "vendingMachineModels": "VendingMachine",
+    "chairModels": "Chair",
+    "busStopModels": "BusStop",
+    "advertisementModels": "Advertisement",
+    "garbageModels": "Garbage",
+    "containerModels": "Container",
+    "tableModels": "Table",
+    "barrierModels": "Barrier",
+    "plantpotModels": "PlantPot",
+    "mailboxModels": "Mailbox",
+    "gnomeModels": "Gnome",
+    "creasedboxModels": "CreasedBox",
+    "caseModels": "Case",
+    "boxModels": "Box",
+    "benchModels": "Bench",
+    "barrelModels": "Barrel",
+    "atmModels": "ATM",
+    "kioskModels": "Kiosk",
+    "ironplateModels": "IronPlate",
+    "trafficwarningModels": "TrafficWarning",
+    "walkerModels": "Pedestrian",
+}
+
+# Build the (modelType, modelName) pairs from bp.ids
+PARAMS = [
+    (model_type, model_name)
+    for key, model_type in CATEGORY_TO_CLASS.items()
+    for model_name in bp.ids.get(key, [])  # empty lists are fine; they just add no params
+]
+
 
 def model_blueprint(simulator, mapPath, town, modelType, modelName):
     code = f"""
-            param map = r'{mapPath}'
-            param carla_map = '{town}'
-            param time_step = 1.0/10
+        param map = r'{mapPath}'
+        param carla_map = '{town}'
+        param time_step = 1.0/10
 
-            model scenic.simulators.carla.model
-            ego = new {modelType} with blueprint '{modelName}'
-            terminate after 1 steps
-        """
+        model scenic.simulators.carla.model
+        ego = new {modelType} at (369, -326), 
+              with blueprint '{modelName}',
+              with regionContainedIn None
+        terminate after 1 steps
+    """
     scenario = compileScenic(code, mode2D=True)
     scene = sampleScene(scenario)
     simulation = simulator.simulate(scene)
@@ -57,42 +71,7 @@ def model_blueprint(simulator, mapPath, town, modelType, modelName):
     assert obj.blueprint == modelName
 
 
-model_data = {
-    "Car": carModels,
-    "Bicycle": bicycleModels,
-    "Motorcycle": motorcycleModels,
-    "Truck": truckModels,
-    "Trash": trashModels,
-    "Cone": coneModels,
-    "Debris": debrisModels,
-    "VendingMachine": vendingMachineModels,
-    "Chair": chairModels,
-    "BusStop": busStopModels,
-    "Advertisement": advertisementModels,
-    "Garbage": garbageModels,
-    "Container": containerModels,
-    "Table": tableModels,
-    "Barrier": barrierModels,
-    "PlantPot": plantpotModels,
-    "Mailbox": mailboxModels,
-    "Gnome": gnomeModels,
-    "CreasedBox": creasedboxModels,
-    "Case": caseModels,
-    "Box": boxModels,
-    "Bench": benchModels,
-    "Barrel": barrelModels,
-    "ATM": atmModels,
-    "Kiosk": kioskModels,
-    "IronPlate": ironplateModels,
-    "TrafficWarning": trafficwarningModels,
-    "Pedestrian": walkerModels,
-}
-
-
-@pytest.mark.parametrize(
-    "modelType, modelName",
-    [(type, name) for type, names in model_data.items() for name in names],
-)
+@pytest.mark.parametrize("modelType, modelName", PARAMS)
 def test_model_blueprints(getCarlaSimulator, modelType, modelName):
     simulator, town, mapPath = getCarlaSimulator("Town01")
     model_blueprint(simulator, mapPath, town, modelType, modelName)
diff --git a/tools/carla/README.md b/tools/carla/README.md
new file mode 100644
index 000000000..955382618
--- /dev/null
+++ b/tools/carla/README.md
@@ -0,0 +1,23 @@
+# Dynamic CARLA blueprints
+
+This folder has two scripts that **collect CARLA blueprint IDs/dimensions** and **generate** the `blueprints.py` module used by Scenic.
+
+## Quick Start
+
+    # From tools/carla:
+    python snapshot_blueprints.py	# capture a snapshot from the running CARLA server
+    python make_blueprints.py 		# build src/scenic/simulators/carla/blueprints.py
+
+## What the scripts do
+
+### `snapshot_blueprints.py`
+
+Connects to CARLA (starts it headless if needed, requires `CARLA_ROOT`).
+Make sure the CARLA server and Python API versions match.
+Groups blueprints into categories, measures bounding-box dimensions, and writes:
+`tools/carla/snapshots/blueprints_<SERVER_VERSION>.json`
+Run this once for each CARLA version you want to support.
+
+### `make_blueprints.py`
+
+Reads all `tools/carla/snapshot/blueprints_*json`, sorts versions semantically (newest → oldest), normalizes category/ID ordering for stable diffs, and writes: `src/scenic/simulators/carla/blueprints.py`
diff --git a/tools/carla/make_blueprints.py b/tools/carla/make_blueprints.py
new file mode 100644
index 000000000..1d19cb88a
--- /dev/null
+++ b/tools/carla/make_blueprints.py
@@ -0,0 +1,178 @@
+"""Build scenic.simulators.carla.blueprints from JSON snapshots.
+
+- Reads tools/carla/snapshots/blueprints_*.json
+- Sorts versions semantically (newest → oldest)
+- Normalizes IDs/dims (sorted for stable diffs)
+- Writes src/scenic/simulators/carla/blueprints.py with _IDS/_DIMS and helpers.
+
+Usage: python tools/carla/make_blueprints.py
+Output: src/scenic/simulators/carla/blueprints.py
+"""
+
+import json
+from pathlib import Path
+
+CARLA_TOOLS_DIR = Path(__file__).resolve().parent  # .../Scenic/tools/carla
+SNAPSHOT_DIR = CARLA_TOOLS_DIR / "snapshots"  # .../Scenic/tools/carla/snapshots
+PROJECT_ROOT = CARLA_TOOLS_DIR.parents[1]  # .../Scenic
+SNAPSHOT_PATTERN = "blueprints_*.json"
+OUT_PATH = PROJECT_ROOT / "src" / "scenic" / "simulators" / "carla" / "blueprints.py"
+
+
+HEADER = '''\
+# AUTO-GENERATED. Do not edit by hand.
+# Built from tools/carla/make_blueprints.py
+
+"""CARLA blueprints for cars, pedestrians, etc."""
+
+from importlib.metadata import PackageNotFoundError, version as _pkg_version
+import warnings
+
+from scenic.core.distributions import distributionFunction
+from scenic.core.errors import InvalidScenarioError
+
+try:
+    _CARLA_VER = _pkg_version("carla")
+except PackageNotFoundError:
+    _CARLA_VER = "0.0.0"  # no carla package; default to newest known blueprints
+
+    
+def _verkey(s: str):
+    # Handle '0.9.15', '0.10.0', '1.2' -> (major, minor, patch)
+    parts = [int(p) for p in s.split(".")]
+    parts += [0] * (3 - len(parts))
+    return tuple(parts[:3])
+
+    
+def _pick(vermap, ver):
+    """Choose the blueprint map for CARLA version"""
+    # 1) Exact match
+    if ver in vermap:
+        return vermap[ver]
+    # 2) If same major.minor, use the newest patch.
+    mm = ".".join(ver.split(".")[:2])
+    cands = [v for v in vermap if v.startswith(mm + ".")]
+    if cands:
+        best = max(cands, key=_verkey)
+        return vermap[best]
+    # 3) Otherwise, use the newest version.
+    best = max(vermap.keys(), key=_verkey)
+    if ver != "0.0.0":
+        warnings.warn(
+            f"Unknown CARLA version {ver}; using blueprints for {best}."
+            "Scenic may not have the correct set of blueprints."
+        )
+    return vermap[best]
+
+    
+oldBlueprintNames = {
+    # Map current names to legacy names
+    "vehicle.dodge.charger_police": ("vehicle.dodge_charger.police",),
+    "vehicle.lincoln.mkz_2017": ("vehicle.lincoln.mkz2017",),
+    "vehicle.mercedes.coupe": ("vehicle.mercedes-benz.coupe",),
+    "vehicle.mini.cooper_s": ("vehicle.mini.cooperst",),
+    "vehicle.ford.mustang": ("vehicle.mustang.mustang",),
+}
+'''
+
+
+FOOTER = '''\
+ids = _pick(_IDS, _CARLA_VER)
+dims = _pick(_DIMS, _CARLA_VER)
+
+
+def any_in(category):
+    """Return all blueprint IDs for a category; raise if none recorded."""
+    model = category + "Models"
+    models = ids.get(model)
+    if models:
+        return models
+    raise InvalidScenarioError(
+        f"Scenic has no '{category}' blueprints recorded for CARLA {_CARLA_VER}."
+    )
+
+
+def _get_dim(bp_id, key, default):
+    """Return recorded dimension or ``default`` if missing/0.
+
+    Note: CARLA 0.9.14 bbox returns 0 for some blueprints (see CARLA issue #5841).
+    """
+    val = dims.get(bp_id, {}).get(key)
+    return val if val else default
+
+
+@distributionFunction
+def width(bp_id, default):
+    """Get width for ``bp_id``; return ``default`` if unknown."""
+    return _get_dim(bp_id, "width", default)
+
+
+@distributionFunction
+def length(bp_id, default):
+    """Get length for ``bp_id``; return ``default`` if unknown."""
+    return _get_dim(bp_id, "length", default)
+
+
+@distributionFunction
+def height(bp_id, default):
+    """Get height for ``bp_id``; return ``default`` if unknown."""
+    return _get_dim(bp_id, "height", default)
+'''
+
+# Template for src/scenic/simulators/carla/blueprints.py
+TEMPLATE = "{HEADER}\n" "_IDS = {IDS_JSON}\n\n" "_DIMS = {DIMS_JSON}\n\n" "{FOOTER}"
+
+
+def _verkey(s: str):
+    parts = [int(p) for p in s.split(".")]
+    parts += [0] * (3 - len(parts))
+    return tuple(parts[:3])
+
+
+def load_versions():
+    files = list(SNAPSHOT_DIR.glob(SNAPSHOT_PATTERN))
+    if not files:
+        raise SystemExit("No input JSONs found.")
+
+    entries = []
+    for jf in files:
+        obj = json.loads(jf.read_text(encoding="utf-8"))
+        ver = str(obj["server_version"])
+        entries.append((ver, {"ids": obj.get("ids", {}), "dims": obj.get("dims", {})}))
+
+    entries.sort(key=lambda x: _verkey(x[0]), reverse=True)  # newest → oldest
+    return {ver: data for ver, data in entries}
+
+
+def normalize(versions):
+    """Return (ids_map, dims_map) with categories, blueprint IDs, and dims sorted."""
+    ids_map, dims_map = {}, {}
+    for ver, data in versions.items():
+        ids = data.get("ids", {})
+        dims = data.get("dims", {})
+        ids_map[ver] = {cat: sorted(bp_ids) for cat, bp_ids in sorted(ids.items())}
+        dims_map[ver] = dict(sorted(dims.items()))
+    return ids_map, dims_map
+
+
+def build_source(versions):
+    ids_map, dims_map = normalize(versions)
+    ids_json = json.dumps(ids_map, indent=2)
+    dims_json = json.dumps(dims_map, indent=2)
+    return TEMPLATE.format(
+        HEADER=HEADER,
+        IDS_JSON=ids_json,
+        DIMS_JSON=dims_json,
+        FOOTER=FOOTER,
+    )
+
+
+def main():
+    src = build_source(load_versions())
+    OUT_PATH.parent.mkdir(parents=True, exist_ok=True)
+    OUT_PATH.write_text(src, encoding="utf-8")
+    print(f"[OK] Wrote {OUT_PATH}")
+
+
+if __name__ == "__main__":
+    main()
diff --git a/tools/carla/snapshot_blueprints.py b/tools/carla/snapshot_blueprints.py
new file mode 100644
index 000000000..42e8d8a4f
--- /dev/null
+++ b/tools/carla/snapshot_blueprints.py
@@ -0,0 +1,276 @@
+"""Collect CARLA blueprint snapshots.
+
+- Connects to (or launches) CARLA.
+- Measures dimensions for all ``vehicle.*``, ``walker.pedestrian.*``, and
+  ``static.prop.*`` blueprints.
+- Categorizes blueprints for Scenic.
+- Writes snapshots/blueprints_<server_version>.json with:
+  {"server_version", "ids" (by category), "dims" (per blueprint id)}.
+
+Requires: CARLA_ROOT, HOST/PORT reachable.
+Usage: python tools/carla/make_snapshot.py
+Output: tools/carla/snapshots/blueprints_<ver>.json
+"""
+
+import json
+import os
+from pathlib import Path
+import socket
+import subprocess
+import sys
+import time
+
+SNAPSHOT_DIR = Path(__file__).resolve().parent / "snapshots"
+HOST = "127.0.0.1"
+PORT = 2000
+
+SNAPSHOT_DIR.mkdir(parents=True, exist_ok=True)
+
+# ---- server helpers ----------------------------------------------------------
+
+
+def is_server_running(host=HOST, port=PORT):
+    with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
+        s.settimeout(1)
+        try:
+            s.connect((host, port))
+            return True
+        except Exception:
+            return False
+
+
+def wait_until_ready(max_seconds=120):
+    for _ in range(max_seconds):
+        if is_server_running():
+            return True
+        time.sleep(1)
+    return False
+
+
+def check_carla_path():
+    carla_root = os.environ.get("CARLA_ROOT")
+    if not carla_root:
+        print("ERROR: CARLA_ROOT is not set.", file=sys.stderr)
+        sys.exit(2)
+    return Path(carla_root)
+
+
+def pick_launcher_from_root(root: Path):
+    if (root / "CarlaUnreal.sh").exists():  # 0.10.x+
+        return "CarlaUnreal.sh", "CarlaUnreal-Linux-Shipping"
+    if (root / "CarlaUE4.sh").exists():  # 0.9.x
+        return "CarlaUE4.sh", "CarlaUE4-Linux-Shipping"
+    print(
+        "ERROR: Could not find CarlaUnreal.sh or CarlaUE4.sh in CARLA_ROOT.",
+        file=sys.stderr,
+    )
+    sys.exit(2)
+
+
+def start_carla_if_needed():
+    if is_server_running():
+        return None
+    root = check_carla_path()
+    script, server_process_name = pick_launcher_from_root(root)
+    print("[INFO] Starting CARLA")
+    subprocess.Popen(
+        f"bash {root}/{script} -RenderOffScreen",
+        shell=True,
+        stdout=subprocess.DEVNULL,
+        stderr=subprocess.DEVNULL,
+    )
+    if not wait_until_ready():
+        print("ERROR: Unable to connect to CARLA after starting.", file=sys.stderr)
+        sys.exit(3)
+    return server_process_name
+
+
+# ---- categorization ----------------------------------------------------------
+
+VEHICLE_BASETYPE_TO_CATEGORY = {
+    "car": "carModels",
+    "bicycle": "bicycleModels",
+    "motorcycle": "motorcycleModels",
+    "truck": "truckModels",
+    "van": "vanModels",
+    "bus": "busModels",
+}
+
+# Explicit fixes for empty base_type on known blueprints
+VEHICLE_ID_TO_CATEGORY = {
+    "vehicle.kawasaki.ninja": "motorcycleModels",  # base_type == "" in 0.9.14
+    "vehicle.mini.cooper_s": "carModels",  # base_type == "" in 0.9.15/0.9.16
+    "vehicle.bmw.grandtourer": "carModels",  # base_type == "" in 0.9.15/0.9.16
+    "vehicle.sprinter.mercedes": "vanModels",  # base_type == "" in 0.10.0
+}
+
+PROP_CATEGORY_RULES = [
+    ("trashModels", ["trashcan", "bin"]),
+    ("coneModels", ["cone"]),
+    ("debrisModels", ["debris"]),
+    ("vendingMachineModels", ["vendingmachine"]),
+    ("chairModels", ["chair"]),
+    ("busStopModels", ["busstop"]),
+    ("advertisementModels", ["advertisement", "streetsign"]),
+    ("garbageModels", ["colacan", "garbage", "plasticbag", "trashbag"]),
+    ("containerModels", ["container"]),
+    ("tableModels", ["table"]),
+    ("barrierModels", ["barrier"]),
+    ("plantpotModels", ["plantpot"]),
+    ("mailboxModels", ["mailbox"]),
+    ("gnomeModels", ["gnome"]),
+    ("creasedboxModels", ["creasedbox"]),
+    ("caseModels", ["case"]),
+    ("boxModels", [".box"]),
+    ("benchModels", ["bench"]),
+    ("barrelModels", ["barrel"]),
+    ("atmModels", ["atm"]),
+    ("kioskModels", ["kiosk"]),
+    ("ironplateModels", ["ironplank"]),
+    ("trafficwarningModels", ["trafficwarning"]),
+]
+
+WALKER_CATEGORY = "walkerModels"
+
+ALL_CATEGORY_KEYS = (
+    list(VEHICLE_BASETYPE_TO_CATEGORY.values())
+    + [WALKER_CATEGORY]
+    + [category for category, _ in PROP_CATEGORY_RULES]
+)
+
+# ---- measuring ---------------------------------------------------------------
+
+
+def get_dimensions_from_spawned(actor):
+    bb = actor.bounding_box
+    return {
+        "width": 2.0 * abs(bb.extent.y),  # Y right
+        "length": 2.0 * abs(bb.extent.x),  # X forward
+        "height": 2.0 * abs(bb.extent.z),  # Z up
+    }
+
+
+def measure_dims(world, bp):
+    import carla
+
+    # `static.prop.mesh` width/length/height == inf
+    if bp.id == "static.prop.mesh":
+        return None
+
+    tf = carla.Transform(carla.Location(x=0.0, y=0.0, z=500.0))
+    actor = None
+    try:
+        actor = world.try_spawn_actor(bp, tf)
+        if actor is None:
+            print(
+                f"[WARN] Could not spawn '{bp.id}' at x=0, y=0, z=500. No dimensions measured.",
+                file=sys.stderr,
+            )
+            return None
+        world.wait_for_tick()
+        return get_dimensions_from_spawned(actor)
+    except Exception as e:
+        print(
+            f"[WARN] Exception while measuring dims for '{bp.id}': {e}. No dimensions measured.",
+            file=sys.stderr,
+        )
+        return None
+    finally:
+        if actor is not None:
+            try:
+                actor.destroy()
+            except Exception:
+                pass
+
+
+def categorize_vehicle(bp):
+    if not bp.has_attribute("base_type"):
+        print(
+            f"[WARN] vehicle blueprint '{bp.id}' has no 'base_type' attribute; skipping.",
+            file=sys.stderr,
+        )
+        return None
+
+    val = bp.get_attribute("base_type").as_str().lower()
+    category = VEHICLE_BASETYPE_TO_CATEGORY.get(val)
+    if category:
+        return category
+
+    # Fallback for the empty/unknown base_type case we know about
+    if bp.id in VEHICLE_ID_TO_CATEGORY:
+        return VEHICLE_ID_TO_CATEGORY[bp.id]
+    print(
+        f"[WARN] vehicle blueprint '{bp.id}' has unsupported base_type='{val}'; skipping.",
+        file=sys.stderr,
+    )
+    return None
+
+
+def categorize_prop(bp):
+    name = bp.id.lower()
+    for category, keywords in PROP_CATEGORY_RULES:
+        if any(kw in name for kw in keywords):
+            return category
+    return None
+
+
+# ---- main --------------------------------------------------------------------
+
+
+def main():
+    try:
+        import carla
+    except Exception:
+        print("ERROR: 'carla' Python package not installed.", file=sys.stderr)
+        sys.exit(4)
+
+    # start CARLA if needed; remember the process name so we can stop it later
+    server_process_name = start_carla_if_needed()
+
+    try:
+        # connect
+        client = carla.Client(HOST, PORT)
+        client.set_timeout(10)
+        world = client.get_world()
+        server_version = client.get_server_version()
+        print(f"[INFO] Connected to CARLA {server_version}")
+
+        # gather blueprints
+        lib = world.get_blueprint_library()
+        vehicle_bps = lib.filter("vehicle.*")
+        walker_bps = lib.filter("walker.pedestrian.*")
+        prop_bps = lib.filter("static.prop.*")
+
+        ids = {category: [] for category in ALL_CATEGORY_KEYS}
+        dims = {}
+
+        def add_group(bps, category_for_bp):
+            for bp in bps:
+                md = measure_dims(world, bp)
+                if md:
+                    dims[bp.id] = md
+                category = category_for_bp(bp)
+                if category:
+                    ids[category].append(bp.id)
+
+        add_group(vehicle_bps, categorize_vehicle)
+        add_group(walker_bps, lambda bp: WALKER_CATEGORY)
+        add_group(prop_bps, categorize_prop)
+
+        out_obj = {
+            "server_version": server_version,
+            "ids": ids,
+            "dims": dims,
+        }
+        out_path = SNAPSHOT_DIR / f"blueprints_{server_version}.json"
+        with open(out_path, "w", encoding="utf-8") as f:
+            json.dump(out_obj, f, indent=2)
+        print(f"[OK] Wrote {out_path}")
+
+    finally:
+        if server_process_name:
+            subprocess.run(f"killall -9 {server_process_name}", shell=True)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/tools/carla/snapshots/blueprints_0.10.0.json b/tools/carla/snapshots/blueprints_0.10.0.json
new file mode 100644
index 000000000..bd3c29bc7
--- /dev/null
+++ b/tools/carla/snapshots/blueprints_0.10.0.json
@@ -0,0 +1,813 @@
+{
+  "server_version": "0.10.0",
+  "ids": {
+    "carModels": [
+      "vehicle.taxi.ford",
+      "vehicle.nissan.patrol",
+      "vehicle.dodgecop.charger",
+      "vehicle.dodge.charger",
+      "vehicle.mini.cooper",
+      "vehicle.lincoln.mkz"
+    ],
+    "bicycleModels": [],
+    "motorcycleModels": [],
+    "truckModels": [
+      "vehicle.carlacola.actors",
+      "vehicle.firetruck.actors",
+      "vehicle.ambulance.ford"
+    ],
+    "vanModels": [
+      "vehicle.sprinter.mercedes"
+    ],
+    "busModels": [
+      "vehicle.fuso.mitsubishi"
+    ],
+    "walkerModels": [
+      "walker.pedestrian.0049",
+      "walker.pedestrian.0050",
+      "walker.pedestrian.0048",
+      "walker.pedestrian.0029",
+      "walker.pedestrian.0040",
+      "walker.pedestrian.0025",
+      "walker.pedestrian.0023",
+      "walker.pedestrian.0046",
+      "walker.pedestrian.0044",
+      "walker.pedestrian.0039",
+      "walker.pedestrian.0051",
+      "walker.pedestrian.0028",
+      "walker.pedestrian.0017",
+      "walker.pedestrian.0026",
+      "walker.pedestrian.0016",
+      "walker.pedestrian.0038",
+      "walker.pedestrian.0015",
+      "walker.pedestrian.0037",
+      "walker.pedestrian.0047",
+      "walker.pedestrian.0034",
+      "walker.pedestrian.0031",
+      "walker.pedestrian.0033",
+      "walker.pedestrian.0032",
+      "walker.pedestrian.0041",
+      "walker.pedestrian.0030",
+      "walker.pedestrian.0035",
+      "walker.pedestrian.0036",
+      "walker.pedestrian.0027",
+      "walker.pedestrian.0024",
+      "walker.pedestrian.0045",
+      "walker.pedestrian.0022",
+      "walker.pedestrian.0019",
+      "walker.pedestrian.0021",
+      "walker.pedestrian.0020",
+      "walker.pedestrian.0043",
+      "walker.pedestrian.0018",
+      "walker.pedestrian.0042"
+    ],
+    "trashModels": [
+      "static.prop.trashcan03",
+      "static.prop.trashcan02",
+      "static.prop.trashcan04",
+      "static.prop.trashcan01"
+    ],
+    "coneModels": [
+      "static.prop.trafficcone01",
+      "static.prop.trafficcone02",
+      "static.prop.constructioncone"
+    ],
+    "debrisModels": [
+      "static.prop.dirtdebris03",
+      "static.prop.dirtdebris02",
+      "static.prop.dirtdebris01"
+    ],
+    "vendingMachineModels": [
+      "static.prop.vendingmachine"
+    ],
+    "chairModels": [
+      "static.prop.plasticchair"
+    ],
+    "busStopModels": [
+      "static.prop.busstop"
+    ],
+    "advertisementModels": [
+      "static.prop.streetsign01",
+      "static.prop.advertisement",
+      "static.prop.streetsign04",
+      "static.prop.streetsign"
+    ],
+    "garbageModels": [
+      "static.prop.garbage02",
+      "static.prop.garbage01",
+      "static.prop.plasticbag",
+      "static.prop.colacan",
+      "static.prop.garbage06",
+      "static.prop.platformgarbage01",
+      "static.prop.garbage04",
+      "static.prop.garbage03",
+      "static.prop.trashbag",
+      "static.prop.garbage05"
+    ],
+    "containerModels": [
+      "static.prop.container"
+    ],
+    "tableModels": [
+      "static.prop.maptable",
+      "static.prop.plastictable"
+    ],
+    "barrierModels": [
+      "static.prop.streetbarrier",
+      "static.prop.chainbarrierend",
+      "static.prop.chainbarrier"
+    ],
+    "plantpotModels": [
+      "static.prop.plantpot02",
+      "static.prop.plantpot06",
+      "static.prop.plantpot03",
+      "static.prop.plantpot07",
+      "static.prop.plantpot01",
+      "static.prop.plantpot05",
+      "static.prop.plantpot04"
+    ],
+    "mailboxModels": [
+      "static.prop.mailbox"
+    ],
+    "gnomeModels": [
+      "static.prop.gnome"
+    ],
+    "creasedboxModels": [
+      "static.prop.creasedbox01"
+    ],
+    "caseModels": [
+      "static.prop.guitarcase",
+      "static.prop.travelcase",
+      "static.prop.briefcase"
+    ],
+    "boxModels": [],
+    "benchModels": [
+      "static.prop.bench01",
+      "static.prop.bench02"
+    ],
+    "barrelModels": [
+      "static.prop.barrel"
+    ],
+    "atmModels": [
+      "static.prop.atm"
+    ],
+    "kioskModels": [
+      "static.prop.kiosk_01"
+    ],
+    "ironplateModels": [],
+    "trafficwarningModels": [
+      "static.prop.trafficwarning"
+    ]
+  },
+  "dims": {
+    "vehicle.taxi.ford": {
+      "width": 1.7890609502792358,
+      "length": 5.354491233825684,
+      "height": 1.575230598449707
+    },
+    "vehicle.carlacola.actors": {
+      "width": 2.9117815494537354,
+      "length": 8.003673553466797,
+      "height": 4.054566383361816
+    },
+    "vehicle.firetruck.actors": {
+      "width": 2.90128493309021,
+      "length": 8.579916000366211,
+      "height": 3.8267812728881836
+    },
+    "vehicle.fuso.mitsubishi": {
+      "width": 3.927680492401123,
+      "length": 10.174287796020508,
+      "height": 4.241000652313232
+    },
+    "vehicle.sprinter.mercedes": {
+      "width": 1.988406777381897,
+      "length": 5.9151387214660645,
+      "height": 2.7260189056396484
+    },
+    "vehicle.nissan.patrol": {
+      "width": 2.1466238498687744,
+      "length": 5.591163635253906,
+      "height": 2.05902099609375
+    },
+    "vehicle.ambulance.ford": {
+      "width": 2.3511743545532227,
+      "length": 6.356935024261475,
+      "height": 2.431001663208008
+    },
+    "vehicle.dodgecop.charger": {
+      "width": 1.9244433641433716,
+      "length": 5.236761569976807,
+      "height": 1.6439720392227173
+    },
+    "vehicle.dodge.charger": {
+      "width": 1.8809516429901123,
+      "length": 5.006043434143066,
+      "height": 1.540313720703125
+    },
+    "vehicle.mini.cooper": {
+      "width": 2.0955777168273926,
+      "length": 4.55255126953125,
+      "height": 1.7724559307098389
+    },
+    "vehicle.lincoln.mkz": {
+      "width": 1.8356460332870483,
+      "length": 4.891970157623291,
+      "height": 1.5241189002990723
+    },
+    "walker.pedestrian.0049": {
+      "width": 0.5,
+      "length": 0.5,
+      "height": 1.1100000143051147
+    },
+    "walker.pedestrian.0050": {
+      "width": 0.3753577768802643,
+      "length": 0.3753577768802643,
+      "height": 1.9049999713897705
+    },
+    "walker.pedestrian.0048": {
+      "width": 0.5,
+      "length": 0.5,
+      "height": 1.1100000143051147
+    },
+    "walker.pedestrian.0029": {
+      "width": 0.3753577768802643,
+      "length": 0.3753577768802643,
+      "height": 1.8399999141693115
+    },
+    "walker.pedestrian.0040": {
+      "width": 0.3753577768802643,
+      "length": 0.3753577768802643,
+      "height": 1.8399999141693115
+    },
+    "walker.pedestrian.0025": {
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\ No newline at end of file
diff --git a/tools/carla/snapshots/blueprints_0.9.14.json b/tools/carla/snapshots/blueprints_0.9.14.json
new file mode 100644
index 000000000..30a59e5bf
--- /dev/null
+++ b/tools/carla/snapshots/blueprints_0.9.14.json
@@ -0,0 +1,1142 @@
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\ No newline at end of file
diff --git a/tools/carla/snapshots/blueprints_0.9.15.json b/tools/carla/snapshots/blueprints_0.9.15.json
new file mode 100644
index 000000000..e184b4a73
--- /dev/null
+++ b/tools/carla/snapshots/blueprints_0.9.15.json
@@ -0,0 +1,1160 @@
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+}
\ No newline at end of file
diff --git a/tools/carla/snapshots/blueprints_0.9.16.json b/tools/carla/snapshots/blueprints_0.9.16.json
new file mode 100644
index 000000000..26cdbe9be
--- /dev/null
+++ b/tools/carla/snapshots/blueprints_0.9.16.json
@@ -0,0 +1,1181 @@
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\ No newline at end of file