Toggle CARLA environment objects

Paths. scripts/… and references/… below are relative to the directory holding this SKILL.md. Your working directory is the user's project, not that directory, so prefix them with its absolute path or the command is not found.

Show or hide the map's static, baked assets — buildings, vegetation, poles, fences, walls, signs — grouped by CityObjectLabel. These are not spawned actors: they come with the map. Toggling changes both rendering and collision, applies to the whole matching set at once, and resets on a map reload.

Resolving words to a label

The agent maps the request to a CityObjectLabel (run labels for the list), then acts:

• "hide the buildings" → disable --label Buildings
• "remove the trees" → disable --label Vegetation
• "turn off street poles" → disable --label Poles
• "show only the roads" → disable the other big labels (Buildings, Vegetation, Fences, Walls…), or re-enable selectively.

Narrow within a label by asset name with --name (substring).

Instructions

Progress:
- [ ] Step 1: Check prerequisites (bash scripts/check_env.sh), clear FAILs
- [ ] Step 2: List to see labels/counts (labels, list --label X)
- [ ] Step 3: disable / enable the matching set (use --dry-run first if unsure)
- [ ] Step 4: Confirm on a rendered view (effect is visual + collision)

Commands need CARLA_HOST/CARLA_PORT from scripts/env.sh.

Step 1: Check prerequisites

bash scripts/check_env.sh

Step 2-3: List and toggle

source scripts/env.sh

python3 scripts/toggle_env.py labels                      # valid CityObjectLabel names
python3 scripts/toggle_env.py list                        # whole-map summary by type
python3 scripts/toggle_env.py list --label Buildings      # count + sample of buildings

python3 scripts/toggle_env.py disable --label Buildings   # hide all buildings
python3 scripts/toggle_env.py disable --label Vegetation --dry-run   # preview first
python3 scripts/toggle_env.py disable --label Poles --name lamp      # subset by name
python3 scripts/toggle_env.py enable  --label Buildings   # bring them back

Step 4: Confirm

The effect is visual + collision on a rendered server. enable_environment_objects returns nothing to read back, so the command reports the count toggled; confirm the change in a windowed/packaged view.

On CARLA 0.10.0 (the UE5 line: 5.5 and 5.8)

get_environment_objects() and enable_environment_objects() — what this skill uses — work normally. Measured on Town10HD_Opt: 59 102 objects, 48 369 of them Buildings, then Vegetation 4 270, Fences 1 767, Static 1 223, Dynamic 489, Sidewalks 269, TrafficSigns 147, Poles 120, TrafficLight 62, Bicycle 56, plus 1 768 labelled NONE.

CityObjectLabel gained Rock (= 29), which does not exist on 0.9.x (LibCarla/source/carla/rpc/ObjectLabel.h:48). Code that iterates the enum by name is fine; code that hard-codes label integers is not.

Do not reach for map layers as an alternative here. load_map_layer / unload_map_layer are accepted and silently do nothing on 0.10.0 — see [[load-map]] for the measurement and the cause. enable_environment_objects is the mechanism that actually hides geometry on this version.

Examples

Example 1: clear the buildings

User says: "hide all the buildings"

disable --label Buildings → reports N buildings hidden; the town goes bare. enable --label Buildings restores them.

Example 2: strip vegetation for a clean capture

User says: "remove the trees and bushes"

disable --label Vegetation. Combine with a weather/settings setup for dataset capture.

Example 3: preview before a big toggle

User says: "what would hiding the fences affect?"

disable --label Fences --dry-run lists the count and sample without changing anything.

Troubleshooting

Problem: nothing changes visually Cause: headless -nullrhi server (no rendering), or wrong label. Solution: use a rendered server; list --label X to confirm the set is non-empty.

Problem: objects came back after loading a map Cause: toggles are per-world; a map load/reload rebuilds all objects. Solution: re-apply the toggles after load-map.

Problem: list --label X is empty but I see those assets Cause: the assets may be tagged under a different label (e.g. Static/Other). Solution: list (no label) for the by-type summary, then target the right label.

Outputs

Server-side visibility/collision state of static map assets. No file. The reported count is the record of what was toggled.

Detail (the label taxonomy, name filtering, rendering/collision semantics) in references/env-objects.md.