Merge remote-tracking branch 'upstream/airsim' into airsim

.github/ISSUE_TEMPLATE/3-feature.yml

@@ -28,4 +28,4 @@ body:
     attributes:
       label: Issue Submission Checklist
       options:
-        - label: I checked the open and closed issues, forum, etc. and have not found any solution
+        - label: I checked the open and closed issues, forum, etc. and have not found any solution

.gitignore

@@ -140,5 +140,3 @@ dmypy.json
 # generated parser
 src/scenic/syntax/parser.py
 
-# airsim
-src/scenic/simulators/airsim/more

docs/simulators.rst

@@ -13,6 +13,8 @@ See the individual entries for details on each interface's capabilities and how
 .. contents:: List of Simulators
    :local:
 
+
+
 Currently Supported
 ===================
 AirSim
@@ -54,31 +56,22 @@ Generate World Info
 
 Before running Scenic, it’s essential to generate world information. To
 achieve this, utilize the scripts located at
-Scenic/src/scenic/simulators/airsim/generators/
+:file:`src/scenic/simulators/airsim/generators/`
 
 Using Unreal Engine (recommended)
 """""""""""""""""""""""""""""""""
 
-First, run the generateUnrealWorldInfo.py script inside unreal engine by
+First, run the :file:`generateUnrealWorldInfo.py` script inside Unreal Engine by
 simply entering in the file path in the engine’s python console.
 
 Then run
-`thegenerateWorldInfoFromUnrealWorldInfo.py <http://thegenerateWorldInfoFromUnrealWorldInfo.py>`__
+the :file:`generateWorldInfoFromUnrealWorldInfo.py`
 script
 
 Using Airsim
 """"""""""""
 
-Run the generateWorldInfo.py script
-
-Note: This world info generation only works on small environments such
-as the Blocks environment. For larger environments, you will need to
-manually create the world info file.
-
-Possible work around for now is to generate the 3d model of the
-environment by getting its voxel grid information and using the
-helper python script `binvoxToObj.py <http://binvoxToObj.py/>`__ to
-put into the assets and objectMeshes folder of your worldInfo folder.
+Run the :file:`generateWorldInfo.py` script
 
 **Configure AirSim Settings**
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -197,6 +190,7 @@ PX4 firmware in SITL mode.
 After this step, you can run Scenic files normally as shown in the
 “Running Scenic” section above.
 
+
 Built-in Newtonian Simulator
 ----------------------------
 
@@ -301,6 +295,8 @@ This interface is part of the VerifAI toolkit; documentation and examples can be
 .. _VerifAI repository: https://github.com/BerkeleyLearnVerify/VerifAI
 
 
+
+
 Deprecated
 ==========
 

examples/airsim/multiDrone.scenic

@@ -3,6 +3,10 @@
 
 model scenic.simulators.airsim.model
 
+
+ground = getPrexistingObj("ground")
+
+
 for i in range(3):
     new Drone at (Range(-10,10),Range(-10,10),Range(0,10)),
-        with behavior FlyToPosition((Range(-10,10),Range(-10,10),Range(0,10)))
+        with behavior FlyToPosition((Range(-10,10),Range(-10,10),Range(0,10)))

examples/airsim/worldGen.scenic

@@ -33,6 +33,6 @@ for i in range(blockCount):
         with height 10)
 
 
-ranBlock = blocks[random.randint(0,blockCount-1)]
+ranBlock = Uniform(*blocks)
 
 drone = new Drone on ranBlock, with behavior Patrol([(10,10,10),(2,2,2)])

src/scenic/simulators/airsim/generators/generateUnrealWorldInfo.py

@@ -1,8 +1,9 @@
-import unreal
-from pathlib import Path
-import os
 import argparse
 import json
+import os
+from pathlib import Path
+
+import unreal
 
 # get output directory
 parser = argparse.ArgumentParser()

src/scenic/simulators/airsim/generators/generateWorldInfoFromUnrealWorldInfo.py

@@ -1,13 +1,14 @@
 import argparse
 import json
 import os
+import shutil
 from warnings import warn
+
+import bpy
 import numpy as np
 import trimesh
-import bpy
-import shutil
-from scenic.core.utils import repairMesh
 
+from scenic.core.utils import repairMesh
 
 WORLD_SCALE = 10000
 DEFAULT_MESH = trimesh.creation.box((1, 1, 1))
@@ -54,7 +55,6 @@
 tmeshes = {}
 for filename in os.listdir(assetsInputDir):
     if filename.endswith(".fbx"):
-
         # make fbx into stl so that trimesh can read it
         name = os.path.splitext(filename)[0].lower()
         filepath = os.path.join(assetsInputDir, filename)
@@ -107,7 +107,6 @@
 with open(inputDirectory + "/actorInfo.json") as file:
     actorInfoList = json.load(file)
     for actorInfo in actorInfoList:
-
         if not (actorInfo["meshName"].lower() in tmeshes):
             continue