Implementation:CARLA simulator Carla Manage Environment Objects Tool

Knowledge Sources	CARLA
Domains	Simulation, Environment, Utility
Last Updated	2026-02-15 05:00 GMT

Overview

Command-line utility script that enables, disables, and visualizes environment objects in a CARLA simulation by label or individual ID.

Description

This script (manage_environment_objects.py) provides comprehensive management of static environment objects in the CARLA scene. It defines an OBJECT_LABELS dictionary mapping 23 label names to carla.CityObjectLabel enum values (Buildings, Fences, Pedestrians, Poles, Roads, Sidewalks, Vehicles, TrafficSigns, TrafficLight, etc.). The script supports operations by individual object ID (--id) or by label category (-l/--label). Features include: --summary prints object counts per label, --show draws bounding boxes, points, and text labels in the scene for the specified duration, and --action (enable/disable) toggles object visibility via world.enable_environment_objects(). The visualization renders object locations as blue points, bounding boxes as blue wireframes, and identification text above each object.

Usage

Use this tool to manage scene complexity by enabling or disabling categories of environment objects, or to debug specific objects by visualizing their bounding boxes and metadata.

Code Reference

Source Location

Repository: CARLA
File: PythonAPI/util/manage_environment_objects.py

Signature

OBJECT_LABELS = {
    'Buildings': carla.CityObjectLabel.Buildings,
    'Fences': carla.CityObjectLabel.Fences,
    'Pedestrians': carla.CityObjectLabel.Pedestrians,
    'Roads': carla.CityObjectLabel.Roads,
    'Vehicles': carla.CityObjectLabel.Car,
    'TrafficLight': carla.CityObjectLabel.TrafficLight,
    'Any': carla.CityObjectLabel.Any,
    # ... 23 labels total
}

def main():
    """Parse args and manage environment objects by label or ID."""

Import

# Run as a command-line tool:
python manage_environment_objects.py -l Buildings --action disable

I/O Contract

Argument	Type	Default	Description
--host	str	127.0.0.1	CARLA server IP address
-p, --port	int	2000	CARLA server TCP port
-l, --label	str	Any	Object label category to manage
--id	int	None	Specific object ID to manage
--show	float	None	Duration to visualize object data (seconds)
--action	choice	None	"enable" or "disable" the object(s)
--summary	flag	False	Print object count summary per label

Usage Examples

# Print summary of all object labels and counts
python manage_environment_objects.py --summary

# Disable all buildings
python manage_environment_objects.py -l Buildings --action disable

# Enable a specific object by ID
python manage_environment_objects.py --id 12345 --action enable

# Visualize a specific object for 30 seconds
python manage_environment_objects.py --id 12345 --show 30

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