diff --git a/VerifAI/examples/scenic/README.md b/VerifAI/examples/scenic/README.md
index ec2cfa7c9..ebae54772 100644
--- a/VerifAI/examples/scenic/README.md
+++ b/VerifAI/examples/scenic/README.md
@@ -15,7 +15,7 @@ It can be set up as follows:
 
 The `falsify_distance.py` example does falsification with a given driving scenario written in Scenic, trying to falsify a specification stating that the ego car always maintains a minimum distance of 5 meters to any other object.
 We have included in the `newtonian` and `carla` subfolders examples of Scenic scenarios that work with this falsifier and run in Scenic's built-in Newtonian simulator and the CARLA driving simulator respectively.
-These examples are [CARLA Challenge scenarios](https://carlachallenge.org/challenge/nhtsa/>) derived from the [National Highway Traffic Safety Administration (NHTSA) pre-crash typology](https://www.nhtsa.gov/sites/nhtsa.gov/files/pre-crash_scenario_typology-final_pdf_version_5-2-07.pdf/>).
+These examples are [CARLA Challenge scenarios](https://web.archive.org/web/20221219223342/https://carlachallenge.org/challenge/nhtsa/) derived from the [National Highway Traffic Safety Administration (NHTSA) pre-crash typology](https://www.nhtsa.gov/sites/nhtsa.gov/files/pre-crash_scenario_typology-final_pdf_version_5-2-07.pdf).
 Many more examples can be found in the [Scenic repo](https://github.com/BerkeleyLearnVerify/Scenic/tree/master/examples).
 
 (Note: the CARLA examples use the CARLA interface provided by Scenic.
diff --git a/VerifAI/pyproject.toml b/VerifAI/pyproject.toml
index 55b6c073b..aaaf9a6b1 100644
--- a/VerifAI/pyproject.toml
+++ b/VerifAI/pyproject.toml
@@ -1,6 +1,6 @@
 [project]
 name = "verifai"
-version = "2.1.0"
+version = "2.1.1"
 description = "A toolkit for the formal design and analysis of systems that include artificial intelligence (AI) and machine learning (ML) components."
 authors = [
 	{ name = "Tommaso Dreossi" },
diff --git a/VerifAI/src/verifai/features/features.py b/VerifAI/src/verifai/features/features.py
index 973a18c7d..8634ceb9a 100644
--- a/VerifAI/src/verifai/features/features.py
+++ b/VerifAI/src/verifai/features/features.py
@@ -721,7 +721,21 @@ def __repr__(self):
         return f'ScalarArray({self.domain}, {self.shape})'
 
 class Struct(Domain):
-    """A domain consisting of named sub-domains."""
+    """A domain consisting of named sub-domains.
+
+    The order of the sub-domains is arbitrary: two Structs are considered equal
+    if they have the same named sub-domains, regardless of order. As the order
+    is an implementation detail, accessing the values of sub-domains in points
+    sampled from a Struct should be done by name:
+
+    >>> struct = Struct({'a': Box((0, 1)), 'b': Box((2, 3))})
+    >>> point = struct.uniformPoint()
+    >>> point.b
+    (2.20215292046797,)
+
+    Within a given version of VerifAI, the sub-domain order is consistent, so
+    that the order of columns in error tables is also consistent.
+    """
 
     def __init__(self, domains):
         self.namedDomains = tuple(sorted(domains.items(), key=lambda i: i[0]))
diff --git a/VerifAI/src/verifai/samplers/scenic_sampler.py b/VerifAI/src/verifai/samplers/scenic_sampler.py
index 17e0add04..bcea7fa2e 100644
--- a/VerifAI/src/verifai/samplers/scenic_sampler.py
+++ b/VerifAI/src/verifai/samplers/scenic_sampler.py
@@ -194,7 +194,10 @@ def spaceForScenario(scenario, ignoredProperties):
     assert scenario.egoObject is scenario.objects[0]
     doms = (domainForObject(obj, ignoredProperties)
             for obj in scenario.objects)
-    objects = Struct({ f'object{i}': dom for i, dom in enumerate(doms) })
+    objects = Struct({
+        ScenicSampler.nameForObject(i): dom
+        for i, dom in enumerate(doms)
+    })
 
     # create domains for global parameters
     paramDoms = {}
@@ -279,15 +282,30 @@ def nextSample(self, feedback=None):
         return self.pointForScene(self.lastScene)
 
     def pointForScene(self, scene):
-        """Convert a sampled Scenic :obj:`Scene` to a point in our feature space."""
+        """Convert a sampled Scenic :obj:`~scenic.core.scenarios.Scene` to a point in our feature space.
+
+        The `FeatureSpace` used by this sampler consists of 2 features:
+
+            * ``objects``, which is a `Struct` consisting of attributes ``object0``,
+              ``object1``, etc. with the properties of the corresponding objects
+              in the Scenic program. The names of these attributes may change in a
+              future version of VerifAI: use the `nameForObject` function to
+              generate them.
+            * ``params``, which is a `Struct` storing the values of the
+              :term:`global parameters` of the Scenic program (use
+              `paramDictForSample` to extract them).
+        """
         lengths, dom = self.space.domains
         assert lengths is None
         assert scene.egoObject is scene.objects[0]
         objDomain = dom.domainNamed['objects']
         assert len(objDomain.domains) == len(scene.objects)
-        objects = (pointForObject(objDomain.domainNamed[f'object{i}'], obj)
-                   for i, obj in enumerate(scene.objects))
-        objPoint = objDomain.makePoint(*objects)
+        objects = {
+            self.nameForObject(i):
+            pointForObject(objDomain.domainNamed[self.nameForObject(i)], obj)
+            for i, obj in enumerate(scene.objects)
+        }
+        objPoint = objDomain.makePoint(**objects)
 
         paramDomain = dom.domainNamed['params']
         params = {}
@@ -298,8 +316,17 @@ def pointForScene(self, scene):
 
         return self.space.makePoint(objects=objPoint, params=paramPoint)
 
+    @staticmethod
+    def nameForObject(i):
+        """Name used in the `FeatureSpace` for the Scenic object with index i.
+
+        That is, if ``scene`` is a :obj:`~scenic.core.scenarios.Scene`, the object
+        ``scene.objects[i]``.
+        """
+        return f'object{i}'
+
     def paramDictForSample(self, sample):
-        """Recover the dict of global parameters from a `ScenicSampler` sample."""
+        """Recover the dict of :term:`global parameters` from a `ScenicSampler` sample."""
         params = sample.params._asdict()
         corrected = {}
         for newName, quotedParam in self.quotedParams.items():
diff --git a/VerifAI/tests/scenic/test_scenic.py b/VerifAI/tests/scenic/test_scenic.py
index fbe9ea200..2b3cf7827 100644
--- a/VerifAI/tests/scenic/test_scenic.py
+++ b/VerifAI/tests/scenic/test_scenic.py
@@ -71,9 +71,15 @@ def test_object_order(new_Object):
     sample = sampler.nextSample()
     objects = sample.objects
     assert len(objects) == 11
-    for i, obj in enumerate(objects):
+    for i in range(len(objects)):
+        name = ScenicSampler.nameForObject(i)
+        obj = getattr(objects, name)
         assert obj.position[:2] == pytest.approx((2*i, 0))
 
+    flat = sampler.space.flatten(sample)
+    unflat = sampler.space.unflatten(flat)
+    assert unflat == sample
+
 ## Active sampling
 
 def test_active_sampling(new_Object):
diff --git a/error_table.csv b/error_table.csv
index cf6c0dba6..d5fb160af 100644
--- a/error_table.csv
+++ b/error_table.csv
@@ -1,2 +1,2 @@
-,point.objects.object0.position[0],point.objects.object0.position[1],point.objects.object0.position[2],rho
-0,6.562315408426532,0.07216232119218624,0.0,False
+,point.objects.object0000.position[0],point.objects.object0000.position[1],point.objects.object0000.position[2],point.objects.object0183.position[0],point.objects.object0183.position[1],point.objects.object0183.position[2],point.objects.object0184.position[0],point.objects.object0184.position[1],point.objects.object0184.position[2],point.objects.object0185.position[0],point.objects.object0185.position[1],point.objects.object0185.position[2],point.objects.object0186.position[0],point.objects.object0186.position[1],point.objects.object0186.position[2],point.objects.object0187.position[0],point.objects.object0187.position[1],point.objects.object0187.position[2],rho
+0,0.0,182.15847435580088,12.0,-31.57378903787832,226.96346121163208,4.980050019073486,41.66522160655998,193.8849795332645,4.980050019073486,37.4566338765801,175.27174471452568,4.980050019073486,-24.38182543180618,229.4351317177681,4.980050019073486,41.66873910321773,193.8825056642247,11.980050019073486,False
diff --git a/examples/airsim/demoDrone.scenic b/examples/airsim/demoDrone.scenic
index 7aed24a36..8a3f4369b 100644
--- a/examples/airsim/demoDrone.scenic
+++ b/examples/airsim/demoDrone.scenic
@@ -1,32 +1,19 @@
 import math
 
 # NOTE: add your world info path here
-param worldInfoPath = "C:/Users/piegu/Scenic/examples/airsim/worldInfo/droneBlocks"
+param worldInfoPath = "examples/airsim/worldInfo/droneBlocks"
 
 model scenic.simulators.airsim.model
 
-# This demo includes 1 adversarial drone, and 1 drone looking for this adversary.
-# Also contains notes on relevant scenic features you might want to use.
+# This demo includes 1 adversarial drone, and 1 drone (ego) looking for this adversary.
 
-# Can define a workspace, by default workspace contains all space
-"""
-workspace_region = RectangularRegion(Vector(0,0,0), 30, 30, 30)
-workspace = Workspace(workspace_region)
-"""
-
-def magnitude(v):
-    return math.hypot(v.x, v.y, v.z)
-
-# Can extend scenic models to add more parameters to them. Generic models are in model.scenic.
-# Scenic models are like templates for the objects to spawn.
-class AdversaryDrone(Drone):
+class AdversaryDrone(Drone): # Drone class defined in model.scenic
     patrolPoints: []
     patrolPointsProb: []
 
 # Find the adversary. drone1 is the adversary target
 behavior FindAdversary(positions, speed = 5):
-    # typical syntax for behaviors in scenarios are try-interrupt statements. It's essentially a nicer while loop
-    # https://scenic-lang.readthedocs.io/en/latest/reference/statements.html#try-interrupt-statement
+    # try-interrupt statements: https://scenic-lang.readthedocs.io/en/latest/reference/statements.html#try-interrupt-statement
     try:
         print("POSSIBLE POSITIONS:")
         print(positions)
@@ -39,34 +26,34 @@ behavior FindAdversary(positions, speed = 5):
             print("EGO CHECKING POSITION:")
             print(selectedPoint)
 
-            do FlyToPosition(selectedPoint, speed=speed, tolerance=1,pidMode=True)
-            
-            # resample point since didn't find adversary at that position
+            do FlyToPosition(selectedPoint, speed=speed, tolerance=1,pidMode=True) # FlyToPosition behavior defined in behaviors.scenic
     
-    interrupt when (distance from self to drone1) < 20:
-        # when I see that I am within 20 meters of adversary, follow it
-        print("FOLLOW")
-        do Follow(drone1, speed=10, tolerance=1, offset=(0,0,0))
-    interrupt when distance from self to drone1 < 5:
-        # when I get within 5 meters of adversary, terminate scenario
-        print("TERMINATING")
+    interrupt when (distance from self to drone1) < 15:
+        # when I see that I am within 15 meters of adversary, follow it
+        print("FOLLOWING ADVERSARY")
+        do Follow(drone1, speed=10, tolerance=1, offset=(0,0,0)) # Follow behavior defined in behaviors.scenic
+
+    interrupt when distance from self to drone1 < 7:
+        # when I get within 7 meters of adversary, terminate scenario
+        print("ADVERSARY FOUND")
         terminate
 
-# Adversary behavior. Move to randomly chosen position out of points.
+# Adversary behavior. Patrol through given points.
 behavior AdversaryBehavior(points, speed):
-    do Patrol(points, loop=True, speed=speed)
+    do Patrol(points, loop=True, speed=speed) # Patrol behavior defined in behaviors.scenic
 
 ground = getPrexistingObj("ground")
-centerArea = RectangularRegion(Vector(0,200,30), 0, 70, 70)
-platforms = []
+workspaceArea = RectangularRegion(Vector(0,200,30), 0, 100, 100)
 
+platforms = []
 blockCount = 4
 for i in range(blockCount):
     platforms.append(new StaticObj on ground, 
-        contained in centerArea,
+        contained in workspaceArea,
         with assetName "Cone", # use * to pick a random asset in assets
-        with width Range(3,10),
-        with length Range(3,10),
+        with parentOrientation 0,
+        with width 5,
+        with length 5,
         with height 10)
 
 points = []
@@ -74,24 +61,20 @@ for plat in platforms:
     point = new Point on plat
     points.append(point.position)
 
-pt = Uniform(*points)
+adversarySpawn = Options(points)
 
 # Adversary drone spawning at random point
-drone1 = new AdversaryDrone at pt + (0,0,2),
+drone1 = new AdversaryDrone at adversarySpawn + (0,0,2),
     with behavior AdversaryBehavior(points, speed=5)
-
+# drone1.patrolPoints = possiblePoints
 drone1.patrolPointsProb = [0.4, 0.2, 0.1, 0.3] # Probability distribution on the patrolPoints
 
-ego = new Drone at (0,200,12),
+# ego drone spawning somwhere in the workspace area
+ego = new Drone at (0,Range(150, 250),12),
     with behavior FindAdversary(points, speed=5)
 
 
 # took too long to locate so terminate after x seconds
+terminate after 15 seconds 
 
-terminate after 30 seconds 
-
-
-# can require initial scenario conditions here 
-""" 
-require (distance from ego to drone) > 20
-"""
+record final (distance to drone1) as dist
\ No newline at end of file
diff --git a/examples/airsim/demoDroneNH.scenic b/examples/airsim/demoDroneNH.scenic
new file mode 100644
index 000000000..a2fdf47dc
--- /dev/null
+++ b/examples/airsim/demoDroneNH.scenic
@@ -0,0 +1,84 @@
+import math
+
+# NOTE: add your world info path here
+param worldInfoPath = "examples/airsim/worldInfo/nh"
+
+model scenic.simulators.airsim.model
+
+# This demo includes 1 adversarial drone, and 1 drone (ego) looking for this adversary.
+
+class AdversaryDrone(Drone): # Drone class defined in model.scenic
+    patrolPoints: []
+    patrolPointsProb: []
+
+# Find the adversary. drone1 is the adversary target
+behavior FindAdversary(positions, speed = 5):
+    # try-interrupt statements: https://scenic-lang.readthedocs.io/en/latest/reference/statements.html#try-interrupt-statement
+    try:
+        print("POSSIBLE POSITIONS:")
+        print(positions)
+        while ((distance from self to drone1) >= 1):
+            selectedPoint = Discrete({positions[0]:drone1.patrolPointsProb[0], 
+            positions[1]:drone1.patrolPointsProb[1], 
+            positions[2]:drone1.patrolPointsProb[2], 
+            positions[3]:drone1.patrolPointsProb[3]})
+            
+            print("EGO CHECKING POSITION:")
+            print(selectedPoint)
+
+            do FlyToPosition(selectedPoint, speed=speed, tolerance=1,pidMode=True) # FlyToPosition behavior defined in behaviors.scenic
+    
+    interrupt when (distance from self to drone1) < 15:
+        # when I see that I am within 15 meters of adversary, follow it
+        print("FOLLOWING ADVERSARY")
+        do Follow(drone1, speed=10, tolerance=1, offset=(0,0,0)) # Follow behavior defined in behaviors.scenic
+
+    interrupt when distance from self to drone1 < 7:
+        # when I get within 7 meters of adversary, terminate scenario
+        print("ADVERSARY FOUND")
+        terminate
+
+# Adversary behavior. Patrol through given points.
+behavior AdversaryBehavior(points, speed):
+    do Patrol(points, loop=True, speed=speed) # Patrol behavior defined in behaviors.scenic
+
+ground = getPrexistingObj("nh")
+area1 = RectangularRegion(Vector(0,0,0), 0, 10, 70)
+area2 = RectangularRegion(Vector(0,0,0), 0, 70, 10)
+
+workspaceArea = area1.union(area2)
+
+platforms = []
+blockCount = 4
+for i in range(blockCount):
+    platforms.append(new StaticObj on ground, 
+        contained in workspaceArea,
+        with assetName "Cone", # use * to pick a random asset in assets
+        with parentOrientation 0,
+        with width 5,
+        with length 5,
+        with height 10)
+
+points = []
+for plat in platforms:
+    point = new Point on plat
+    points.append(point.position)
+
+adversarySpawn = Options(points)
+
+# Adversary drone spawning at random point
+drone1 = new AdversaryDrone at adversarySpawn + (0,0,2),
+    with behavior AdversaryBehavior(points, speed=2)
+# drone1.patrolPoints = possiblePoints
+drone1.patrolPointsProb = [0.4, 0.2, 0.1, 0.3] # Probability distribution on the patrolPoints
+
+# ego drone spawning somwhere in the middle of the workspace area
+ego = new Drone at (Range(-5, 5),Range(-5, 5),10),
+    with behavior FindAdversary(points, speed=5)
+
+
+
+# took too long to locate so terminate after x seconds
+terminate after 15 seconds 
+
+record final (distance to drone1) as dist
\ No newline at end of file
diff --git a/examples/airsim/worldInfo/nh/assets/1M_Cube_Chamfer.obj b/examples/airsim/worldInfo/nh/assets/1M_Cube_Chamfer.obj
new file mode 100644
index 000000000..7a58d8402
--- /dev/null
+++ b/examples/airsim/worldInfo/nh/assets/1M_Cube_Chamfer.obj
@@ -0,0 +1,309 @@
+# https://github.com/mikedh/trimesh
+v -46.00000000 -50.00000000 46.00000000
+v -46.00000000 -50.00000000 -46.00000000
+v -48.00000000 -49.46409988 -46.00000000
+v -48.00000000 -49.46409988 46.00000000
+v -49.46410370 -48.00000000 -46.00000000
+v -49.46410370 -48.00000000 46.00000000
+v -50.00000000 -46.00000000 -46.00000000
+v -50.00000000 -46.00000000 46.00000000
+v -50.00000000 46.00000000 -46.00000000
+v -50.00000000 46.00000000 46.00000000
+v -49.46410370 48.00000000 -46.00000000
+v -49.46410370 48.00000000 46.00000000
+v -48.00000000 49.46409988 -46.00000000
+v -48.00000000 49.46409988 46.00000000
+v -46.00000000 50.00000000 -46.00000000
+v -46.00000000 50.00000000 46.00000000
+v 46.00000000 50.00000000 -46.00000000
+v 46.00000000 50.00000000 46.00000000
+v 48.00000000 49.46409988 -46.00000000
+v 48.00000000 49.46409988 46.00000000
+v 49.46410370 48.00000000 -46.00000000
+v 49.46410370 48.00000000 46.00000000
+v 50.00000000 46.00000000 -46.00000000
+v 50.00000000 46.00000000 46.00000000
+v 50.00000000 -46.00000000 -46.00000000
+v 50.00000000 -46.00000000 46.00000000
+v 49.46410370 -48.00000000 -46.00000000
+v 49.46410370 -48.00000000 46.00000000
+v 48.00000000 -49.46409988 -46.00000000
+v 48.00000000 -49.46409988 46.00000000
+v 46.00000000 -50.00000000 -46.00000000
+v 46.00000000 -50.00000000 46.00000000
+v -46.00000000 -49.46410370 48.00000000
+v -47.73205185 -49.00000000 48.00000000
+v 46.00000000 -49.46410370 48.00000000
+v -49.00000000 -47.73205185 48.00000000
+v 47.73205185 -49.00000000 48.00000000
+v -49.46410370 -46.00000000 48.00000000
+v 49.00000000 -47.73205185 48.00000000
+v -49.46410370 46.00000000 48.00000000
+v 49.46410370 -46.00000000 48.00000000
+v -49.00000000 47.73205185 48.00000000
+v 49.46410370 46.00000000 48.00000000
+v -47.73205185 49.00000000 48.00000000
+v 49.00000000 47.73205185 48.00000000
+v -46.00000000 49.46410370 48.00000000
+v 47.73205185 49.00000000 48.00000000
+v 46.00000000 49.46410370 48.00000000
+v 47.00000000 47.73205185 49.46409607
+v 46.00000000 48.00000000 49.46409607
+v -46.00000000 48.00000000 49.46409607
+v -47.00000000 47.73205185 49.46409607
+v -46.00000000 46.00000000 50.00000000
+v -47.73205185 47.00000000 49.46409607
+v -48.00000000 46.00000000 49.46409607
+v 46.00000000 46.00000000 50.00000000
+v -48.00000000 -46.00000000 49.46409607
+v -46.00000000 -46.00000000 50.00000000
+v -47.73205185 -47.00000000 49.46409607
+v -47.00000000 -47.73205185 49.46409607
+v -46.00000000 -48.00000000 49.46409607
+v 46.00000000 -46.00000000 50.00000000
+v 46.00000000 -48.00000000 49.46409607
+v 47.00000000 -47.73205185 49.46409607
+v 47.73205185 -47.00000000 49.46409607
+v 48.00000000 -46.00000000 49.46409607
+v 48.00000000 46.00000000 49.46409607
+v 47.73205185 47.00000000 49.46409607
+v -47.73205185 -49.00000000 -48.00000000
+v -46.00000000 -49.46410370 -48.00000000
+v -49.00000000 -47.73205185 -48.00000000
+v 46.00000000 -49.46410370 -48.00000000
+v -49.46410370 -46.00000000 -48.00000000
+v 47.73205185 -49.00000000 -48.00000000
+v -49.46410370 46.00000000 -48.00000000
+v 49.00000000 -47.73205185 -48.00000000
+v -49.00000000 47.73205185 -48.00000000
+v 49.46410370 -46.00000000 -48.00000000
+v -47.73205185 49.00000000 -48.00000000
+v 49.46410370 46.00000000 -48.00000000
+v -46.00000000 49.46410370 -48.00000000
+v 49.00000000 47.73205185 -48.00000000
+v 46.00000000 49.46410370 -48.00000000
+v 47.73205185 49.00000000 -48.00000000
+v 46.00000000 48.00000000 -49.46409988
+v 47.00000000 47.73205185 -49.46409988
+v 47.73205185 47.00000000 -49.46409988
+v 48.00000000 46.00000000 -49.46409988
+v 46.00000000 46.00000000 -50.00000000
+v 48.00000000 -46.00000000 -49.46409988
+v -46.00000000 48.00000000 -49.46409988
+v 47.73205185 -47.00000000 -49.46409988
+v -47.00000000 47.73205185 -49.46409988
+v 47.00000000 -47.73205185 -49.46409988
+v -47.73205185 47.00000000 -49.46409988
+v -46.00000000 46.00000000 -50.00000000
+v -48.00000000 46.00000000 -49.46409988
+v -48.00000000 -46.00000000 -49.46409988
+v 46.00000000 -46.00000000 -50.00000000
+v -46.00000000 -46.00000000 -50.00000000
+v -47.73205185 -47.00000000 -49.46409988
+v 46.00000000 -48.00000000 -49.46409988
+v -47.00000000 -47.73205185 -49.46409988
+v -46.00000000 -48.00000000 -49.46409988
+f 3 2 1
+f 1 4 3
+f 5 3 4
+f 4 6 5
+f 7 5 6
+f 6 8 7
+f 9 7 8
+f 8 10 9
+f 11 9 10
+f 10 12 11
+f 13 11 12
+f 12 14 13
+f 15 13 14
+f 14 16 15
+f 17 15 16
+f 16 18 17
+f 19 17 18
+f 18 20 19
+f 21 19 20
+f 20 22 21
+f 23 21 22
+f 22 24 23
+f 25 23 24
+f 24 26 25
+f 27 25 26
+f 26 28 27
+f 29 27 28
+f 28 30 29
+f 31 29 30
+f 30 32 31
+f 2 31 32
+f 32 1 2
+f 4 1 33
+f 33 34 4
+f 6 4 34
+f 35 33 1
+f 1 32 35
+f 34 36 6
+f 8 6 36
+f 37 35 32
+f 32 30 37
+f 36 38 8
+f 10 8 38
+f 39 37 30
+f 30 28 39
+f 38 40 10
+f 12 10 40
+f 41 39 28
+f 28 26 41
+f 40 42 12
+f 14 12 42
+f 43 41 26
+f 26 24 43
+f 42 44 14
+f 16 14 44
+f 45 43 24
+f 24 22 45
+f 44 46 16
+f 18 16 46
+f 47 45 22
+f 22 20 47
+f 20 18 48
+f 48 47 20
+f 46 48 18
+f 45 47 49
+f 47 48 50
+f 50 49 47
+f 48 46 51
+f 51 50 48
+f 52 51 46
+f 46 44 52
+f 50 51 53
+f 51 52 53
+f 54 52 44
+f 52 54 53
+f 44 42 54
+f 55 54 42
+f 54 55 53
+f 42 40 55
+f 53 56 50
+f 49 50 56
+f 57 55 40
+f 40 38 57
+f 58 53 55
+f 55 57 58
+f 56 53 58
+f 59 57 38
+f 57 59 58
+f 38 36 59
+f 60 59 36
+f 59 60 58
+f 36 34 60
+f 61 60 34
+f 60 61 58
+f 34 33 61
+f 62 58 61
+f 58 62 56
+f 63 61 33
+f 61 63 62
+f 33 35 63
+f 64 63 35
+f 63 64 62
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diff --git a/examples/airsim/worldInfo/nh/assets/Cone.obj b/examples/airsim/worldInfo/nh/assets/Cone.obj
new file mode 100644
index 000000000..ecf311c88
--- /dev/null
+++ b/examples/airsim/worldInfo/nh/assets/Cone.obj
@@ -0,0 +1,429 @@
+# https://github.com/mikedh/trimesh
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diff --git a/examples/airsim/worldInfo/nh/assets/Cube.obj b/examples/airsim/worldInfo/nh/assets/Cube.obj
new file mode 100644
index 000000000..586c01c4b
--- /dev/null
+++ b/examples/airsim/worldInfo/nh/assets/Cube.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/examples/airsim/worldInfo/nh/assets/Cylinder.obj b/examples/airsim/worldInfo/nh/assets/Cylinder.obj
new file mode 100644
index 000000000..b34a468c4
--- /dev/null
+++ b/examples/airsim/worldInfo/nh/assets/Cylinder.obj
@@ -0,0 +1,771 @@
+# https://github.com/mikedh/trimesh
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diff --git a/examples/airsim/worldInfo/nh/assets/MapleLeaf01.obj b/examples/airsim/worldInfo/nh/assets/MapleLeaf01.obj
new file mode 100644
index 000000000..762b3a34f
--- /dev/null
+++ b/examples/airsim/worldInfo/nh/assets/MapleLeaf01.obj
@@ -0,0 +1,24968 @@
+# https://github.com/mikedh/trimesh
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diff --git a/examples/airsim/worldInfo/nh/assets/Plane.obj b/examples/airsim/worldInfo/nh/assets/Plane.obj
new file mode 100644
index 000000000..6dacb4335
--- /dev/null
+++ b/examples/airsim/worldInfo/nh/assets/Plane.obj
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diff --git a/examples/airsim/worldInfo/nh/assets/Propeller.obj b/examples/airsim/worldInfo/nh/assets/Propeller.obj
new file mode 100644
index 000000000..214d27a10
--- /dev/null
+++ b/examples/airsim/worldInfo/nh/assets/Propeller.obj
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\ No newline at end of file
diff --git a/examples/airsim/worldInfo/nh/assets/Quadrotor1.obj b/examples/airsim/worldInfo/nh/assets/Quadrotor1.obj
new file mode 100644
index 000000000..fd063e8db
--- /dev/null
+++ b/examples/airsim/worldInfo/nh/assets/Quadrotor1.obj
@@ -0,0 +1,29847 @@
+# https://github.com/mikedh/trimesh
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diff --git a/examples/airsim/worldInfo/nh/assets/SM_SkySphere.obj b/examples/airsim/worldInfo/nh/assets/SM_SkySphere.obj
new file mode 100644
index 000000000..5f504a665
--- /dev/null
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diff --git a/examples/airsim/worldInfo/nh/assets/S_1_Unit_Plane.obj b/examples/airsim/worldInfo/nh/assets/S_1_Unit_Plane.obj
new file mode 100644
index 000000000..4aea6557d
--- /dev/null
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diff --git a/examples/airsim/worldInfo/nh/assets/Sphere.obj b/examples/airsim/worldInfo/nh/assets/Sphere.obj
new file mode 100644
index 000000000..4f4164a7d
--- /dev/null
+++ b/examples/airsim/worldInfo/nh/assets/Sphere.obj
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diff --git a/examples/airsim/worldInfo/nh/assets/TemplateFloor.obj b/examples/airsim/worldInfo/nh/assets/TemplateFloor.obj
new file mode 100644
index 000000000..8dc7899c5
--- /dev/null
+++ b/examples/airsim/worldInfo/nh/assets/TemplateFloor.obj
@@ -0,0 +1,195 @@
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diff --git a/examples/airsim/worldInfo/nh/objectMeshes/nh.obj b/examples/airsim/worldInfo/nh/objectMeshes/nh.obj
new file mode 100644
index 000000000..114143f00
--- /dev/null
+++ b/examples/airsim/worldInfo/nh/objectMeshes/nh.obj
@@ -0,0 +1,118133 @@
+# Blender 3.5.1
+# www.blender.org
+o nh2
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diff --git a/examples/airsim/worldInfo/nh/worldInfo.json b/examples/airsim/worldInfo/nh/worldInfo.json
new file mode 100644
index 000000000..8c52d38e7
--- /dev/null
+++ b/examples/airsim/worldInfo/nh/worldInfo.json
@@ -0,0 +1,15 @@
+[
+    {
+        "name": "nh",
+        "position": [
+            0,
+            0,
+            0
+        ],
+        "orientation": [
+            0.0,
+            0.0,
+            0.0
+        ]
+    }
+]
\ No newline at end of file
diff --git a/safe_table.csv b/safe_table.csv
new file mode 100644
index 000000000..ad6e059c9
--- /dev/null
+++ b/safe_table.csv
@@ -0,0 +1,3 @@
+,point.objects.object0000.position[0],point.objects.object0000.position[1],point.objects.object0000.position[2],point.objects.object0183.position[0],point.objects.object0183.position[1],point.objects.object0183.position[2],point.objects.object0184.position[0],point.objects.object0184.position[1],point.objects.object0184.position[2],point.objects.object0185.position[0],point.objects.object0185.position[1],point.objects.object0185.position[2],point.objects.object0186.position[0],point.objects.object0186.position[1],point.objects.object0186.position[2],point.objects.object0187.position[0],point.objects.object0187.position[1],point.objects.object0187.position[2],rho
+0,0.0,162.34998806041605,12.0,32.35322950778509,191.21645519216037,4.980050019073486,32.99792474589637,168.59016143487472,4.980050019073486,6.179574530713317,229.88212673545544,4.980050019073486,-15.075412837133541,226.37856153712312,4.980050019073486,6.175796244525637,229.88111228360398,11.980050019073486,True
+1,0.0,226.35163451147866,12.0,15.166946852274549,229.99158345101318,4.980050019073486,-4.740123482403092,183.77021786853606,4.980050019073486,31.086869979097116,226.28247283256326,4.980050019073486,37.60092206004941,196.69124718720556,4.980050019073486,31.082877943494047,226.28047839062154,11.980050019073486,True
diff --git a/src/scenic/simulators/airsim/actions.py b/src/scenic/simulators/airsim/actions.py
index 690aae065..410deabc2 100644
--- a/src/scenic/simulators/airsim/actions.py
+++ b/src/scenic/simulators/airsim/actions.py
@@ -1,5 +1,7 @@
 from scenic.core.simulators import Action
 from scenic.core.type_support import toVector
+import airsim
+from scenic.core.vectors import Orientation, Vector
 
 from .utils import (
     airsimToScenicLocation,
@@ -58,3 +60,19 @@ def applyTo(self, obj, sim):
             duration=5,
             vehicle_name=obj.realObjName,
         )
+
+class SetObjectPose(Action):
+    def __init__(self, position, orientation):
+        pitch = orientation[0]
+        roll = orientation[1]
+        yaw = orientation[2]
+        self.newPosition = scenicToAirsimVector(toVector(position))
+        self.newOrientation = scenicToAirsimOrientation(Orientation.fromEuler(pitch, roll, yaw))
+
+    def applyTo(self, obj, sim):
+        client = sim.client
+        client.simSetObjectPose(
+            obj.realObjName,
+            airsim.Pose(self.newPosition, self.newOrientation),
+            teleport=True,
+        )
\ No newline at end of file
diff --git a/src/scenic/simulators/airsim/generators/binvoxToObj.py b/src/scenic/simulators/airsim/generators/binvoxToObj.py
new file mode 100644
index 000000000..0535927f5
--- /dev/null
+++ b/src/scenic/simulators/airsim/generators/binvoxToObj.py
@@ -0,0 +1,53 @@
+import argparse
+import json
+import os
+import pprint
+import re
+import sys
+import tempfile
+import time
+from warnings import warn
+
+import airsim
+import cv2
+import numpy as np
+import trimesh
+
+from scenic.core.shapes import MeshShape
+from scenic.core.utils import repairMesh
+from scenic.simulators.airsim.utils import (
+    airsimToScenicLocationTuple,
+    airsimToScenicOrientationTuple,
+)
+
+# get output directory
+parser = argparse.ArgumentParser()
+parser.add_argument(
+    "-p",
+    "--path",
+    type=str,
+    help="the directory where the obj to be reparied is. This file should already exist.",
+    required=True,
+)
+args = parser.parse_args()
+
+
+objPath = args.path 
+
+assert objPath.lower().endswith(".binvox")
+
+def getBinvox(path):
+    tmesh = trimesh.load(path)
+    print(type(tmesh))
+    tmesh = tmesh.marching_cubes
+    print(type(tmesh))
+
+    tmesh = repairMesh(tmesh)
+
+    with open(
+        "examples/airsim/worldInfo/nh2.obj",
+        "w",
+    ) as outfile:
+        outfile.write(trimesh.exchange.obj.export_obj(tmesh))
+
+getBinvox(objPath)
\ No newline at end of file
diff --git a/src/scenic/simulators/airsim/simulator.py b/src/scenic/simulators/airsim/simulator.py
index dfad453e2..b49eeaea3 100644
--- a/src/scenic/simulators/airsim/simulator.py
+++ b/src/scenic/simulators/airsim/simulator.py
@@ -243,7 +243,7 @@ def destroy(self):
         client.reset()
 
         super().destroy()
-        print("canceled simulation")
+        print("Simulation Complete/Destroyed")
 
     def getProperties(self, obj, properties):
         if obj.blueprint == "AirSimPrexisting":
diff --git a/src/scenic/simulators/airsim/verifai_sampler.py b/src/scenic/simulators/airsim/verifai_sampler.py
index 78677d8c1..8605a1ebc 100644
--- a/src/scenic/simulators/airsim/verifai_sampler.py
+++ b/src/scenic/simulators/airsim/verifai_sampler.py
@@ -5,46 +5,42 @@
 from verifai.monitor import specification_monitor
 import math
 
-path_to_scenic_script = 'C:/Users/piegu/Scenic/examples/airsim/test.scenic'
+path_to_scenic_script = 'examples/airsim/demoDrone.scenic'
 sampler = ScenicSampler.fromScenario(path_to_scenic_script)
 
 class confidence_spec(specification_monitor):
     def __init__(self):
         def specification(simulation):
             for traj in simulation.result.trajectory:
-                # success condition is if the drone is within 5 meters of the target
-                dist = math.sqrt((traj[0][0]-traj[1][0])**2 + (traj[0][1]-traj[1][1])**2 + (traj[0][2]-traj[1][2])**2)
-                if dist < 5: 
+                # success condition is if the drone is within 7 meters of the target
+                dist = simulation.result.records['dist']
+                if dist < 7: 
                     return True
+            print("ADVERSARY NOT FOUND")
             return False
             
         super().__init__(specification)
 
-MAX_ITERS = 1
+MAX_ITERS = 3
 PORT = 8888
 MAXREQS = 5
 BUFSIZE = 4096
 falsifier_params = DotMap()
 falsifier_params.n_iters = MAX_ITERS # Number of simulations to run (or None for no limit)
-# falsifier_params.max_time = None # Time limit in seconds, if any
+falsifier_params.max_time = None # Time limit in seconds, if any
 falsifier_params.save_error_table = True # Record samples that violated the monitor/specification
 falsifier_params.save_good_samples = True # Don't record samples that satisfied the monitor/specification
 falsifier_params.error_table_path = 'error_table.csv'
-# falsifier_params.safe_table_path = 'safe_table.csv'
-# falsifier_params.fal_thres = 0.5 # Monitor return value below which a sample is considered a violation
-# falsifier_params.sampler_params = None   # optional DotMap of sampler-specific parameters
+falsifier_params.safe_table_path = 'safe_table.csv'
+falsifier_params.fal_thres = 0.5 # Monitor return value below which a sample is considered a violation
+falsifier_params.sampler_params = None   # optional DotMap of sampler-specific parameters
 
 server_options = DotMap(port=PORT, bufsize=BUFSIZE, maxreqs=MAXREQS, verbosity=1)
 
 falsifier = generic_falsifier(sampler=sampler,
                               falsifier_params=falsifier_params,
-                            #   monitor=confidence_spec(),
+                              monitor=confidence_spec(),
                               server_class=ScenicServer,
                               server_options=server_options)
 falsifier.run_falsifier()
-print("Scenic Samples")
-'''
-for i in falsifier.samples.keys():
-    print("Sample: ", i)
-    print(falsifier.samples[i])
-'''
+print("Sampler Complete")