Merge branch 'main' of https://github.com/CodexLabsLLC/Colosseum

AirLib/include/api/RpcLibClientBase.hpp

@@ -60,6 +60,8 @@ namespace airlib
         void simSetWeatherParameter(WorldSimApiBase::WeatherParameter param, float val);
 
         vector<string> simListSceneObjects(const string& name_regex = string(".*")) const;
+        vector<string> simListSceneObjectsByTag(const string& tag_regex = string(".*")) const;
+
         Pose simGetObjectPose(const std::string& object_name) const;
         bool simLoadLevel(const string& level_name);
         Vector3r simGetObjectScale(const std::string& object_name) const;
@@ -163,6 +165,8 @@ namespace airlib
         void simSetWind(const Vector3r& wind) const;
         void simSetExtForce(const Vector3r& ext_force) const;
 
+        Vector3r simFindLookAtRotation(const std::string& vehicle_name, const std::string& object_name) const;
+
         vector<string> listVehicles();
 
         std::string getSettingsString() const;

AirLib/include/api/WorldSimApiBase.hpp

@@ -67,6 +67,8 @@ namespace airlib
         virtual void simPlotTransformsWithNames(const vector<Pose>& poses, const vector<std::string>& names, float tf_scale, float tf_thickness, float text_scale, const vector<float>& text_color_rgba, float duration) = 0;
 
         virtual std::vector<std::string> listSceneObjects(const std::string& name_regex) const = 0;
+        virtual std::vector<std::string> listSceneObjectsByTag(const std::string& tag_regex) const = 0;
+
         virtual Pose getObjectPose(const std::string& object_name) const = 0;
         virtual Vector3r getObjectScale(const std::string& object_name) const = 0;
         virtual bool setObjectPose(const std::string& object_name, const Pose& pose, bool teleport) = 0;
@@ -79,6 +81,7 @@ namespace airlib
         virtual vector<MeshPositionVertexBuffersResponse> getMeshPositionVertexBuffers() const = 0;
 
         virtual bool createVoxelGrid(const Vector3r& position, const int& x_size, const int& y_size, const int& z_size, const float& res, const std::string& output_file) = 0;
+        virtual Vector3r findLookAtRotation(const std::string& vehicle_name, const std::string& object_name) = 0;
 
         // Recording APIs
         virtual void startRecording() = 0;

AirLib/src/api/RpcLibClientBase.cpp

@@ -488,6 +488,11 @@ __pragma(warning(disable : 4239))
             return pimpl_->client.call("simListSceneObjects", name_regex).as<vector<string>>();
         }
 
+        vector<string> RpcLibClientBase::simListSceneObjectsByTag(const string& tag_regex) const
+        {
+            return pimpl_->client.call("simListSceneObjectsByTag", tag_regex).as<vector<string>>();
+        }
+
         std::vector<std::string> RpcLibClientBase::simSwapTextures(const std::string& tags, int tex_id, int component_id, int material_id)
         {
             return pimpl_->client.call("simSwapTextures", tags, tex_id, component_id, material_id).as<vector<string>>();
@@ -578,6 +583,11 @@ __pragma(warning(disable : 4239))
             return pimpl_->client.call("simCreateVoxelGrid", RpcLibAdaptorsBase::Vector3r(position), x, y, z, res, output_file).as<bool>();
         }
 
+        msr::airlib::Vector3r RpcLibClientBase::simFindLookAtRotation(const std::string& vehicle_name, const std::string& object_name) const
+        {
+            return pimpl_->client.call("simFindLookAtRotation", vehicle_name, object_name).as<RpcLibAdaptorsBase::Vector3r>().to();
+        }
+
         void RpcLibClientBase::cancelLastTask(const std::string& vehicle_name)
         {
             pimpl_->client.call("cancelLastTask", vehicle_name);

AirLib/src/api/RpcLibServerBase.cpp

@@ -364,6 +364,10 @@ namespace airlib
             return getWorldSimApi()->listSceneObjects(name_regex);
         });
 
+        pimpl_->server.bind("simListSceneObjectsByTag", [&](const std::string& tag_regex) -> std::vector<string> {
+            return getWorldSimApi()->listSceneObjectsByTag(tag_regex);
+        });
+
         pimpl_->server.bind("simLoadLevel", [&](const std::string& level_name) -> bool {
             return getWorldSimApi()->loadLevel(level_name);
         });
@@ -512,6 +516,11 @@ namespace airlib
             return getWorldSimApi()->getSettingsString();
         });
 
+        pimpl_->server.bind("simFindLookAtRotation", [&](const std::string& vehicle_name, const std::string& object_name) -> RpcLibAdaptorsBase::Vector3r {
+            const auto& rot = getWorldSimApi()->findLookAtRotation(vehicle_name, object_name);
+            return RpcLibAdaptorsBase::Vector3r(rot);
+        });
+
         //if we don't suppress then server will bomb out for exceptions raised by any method
         pimpl_->server.suppress_exceptions(true);
     }

PythonClient/airsim/client.py

@@ -555,6 +555,20 @@ def simListSceneObjects(self, name_regex = '.*'):
         """
         return self.client.call('simListSceneObjects', name_regex)
 
+    def simListSceneObjectsByTag(self, tag_regex = '.*'):
+        """
+        Lists the objects present in the environment by searching their tags
+
+        Default behaviour is to list all objects, regex can be used to return smaller list of matching objects or actors
+
+        Args:
+            tag_regex (str, optional): String to match actor tags against, e.g. "Tag.*"
+
+        Returns:
+            list[str]: List containing all the names
+        """
+        return self.client.call('simListSceneObjectsByTag', tag_regex)
+
     def simLoadLevel(self, level_name):
         """
         Loads a level specified by its name
@@ -1123,6 +1137,9 @@ def simSetExtForce(self, ext_force):
         """
         self.client.call('simSetExtForce', ext_force)
 
+    def simFindLookAtRotation(self, object_name, vehicle_name = ''):
+        return self.client.call('simFindLookAtRotation', vehicle_name, object_name)
+
 # -----------------------------------  Multirotor APIs ---------------------------------------------
 class MultirotorClient(VehicleClient, object):
     def __init__(self, ip = "", port = 41451, timeout_value = 3600):

PythonClient/multirotor/add_drone.py

@@ -2,6 +2,7 @@
 import airsim
 import tempfile
 import os
+import random
 import numpy as np
 import cv2
 import pprint
@@ -11,7 +12,7 @@
 client.confirmConnection()
 
 # add new vehicle
-vehicle_name = "Drone2"
+vehicle_name = "Drone2" + str(random.randrange(100))
 pose = airsim.Pose(airsim.Vector3r(0, 0, 0), airsim.to_quaternion(0, 0, 0))
 
 client.simAddVehicle(vehicle_name, "simpleflight", pose)

PythonClient/multirotor/path.py

@@ -30,7 +30,7 @@
 
 # AirSim uses NED coordinates so negative axis is up.
 # z of -5 is 5 meters above the original launch point.
-z = -5
+z = -30
 print("make sure we are hovering at {} meters...".format(-z))
 client.moveToZAsync(z, 1).join()
 

Unreal/Environments/Blocks/Blocks.uproject

@@ -1,30 +1,30 @@
-{
-	"FileVersion": 3,
-	"EngineAssociation": "5.1",
-	"Category": "",
-	"Description": "",
-	"Modules": [
-		{
-			"Name": "Blocks",
-			"Type": "Runtime",
-			"LoadingPhase": "Default",
-			"AdditionalDependencies": [
-				"AirSim"
-			]
-		}
-	],
-	"Plugins": [
-		{
-			"Name": "AirSim",
-			"Enabled": true
-		},
-		{
-			"Name": "SteamVR",
-			"Enabled": false
-		},
-		{
-			"Name": "OculusVR",
-			"Enabled": false
-		}
-	]
+{
+	"FileVersion": 3,
+	"EngineAssociation": "5.3",
+	"Category": "",
+	"Description": "",
+	"Modules": [
+		{
+			"Name": "Blocks",
+			"Type": "Runtime",
+			"LoadingPhase": "Default",
+			"AdditionalDependencies": [
+				"AirSim"
+			]
+		}
+	],
+	"Plugins": [
+		{
+			"Name": "AirSim",
+			"Enabled": true
+		},
+		{
+			"Name": "SteamVR",
+			"Enabled": false
+		},
+		{
+			"Name": "OculusVR",
+			"Enabled": false
+		}
+	]
 }

Unreal/Environments/Blocks/Config/DefaultEditor.ini

@@ -7,4 +7,5 @@ bReplaceBlueprintWithClass= true
 bDontLoadBlueprintOutsideEditor= true
 bBlueprintIsNotBlueprintType= true
 
+[/Script/AdvancedPreviewScene.SharedProfiles]
 

Unreal/Environments/Blocks/Config/DefaultEngine.ini

@@ -68,4 +68,17 @@ AsyncSceneSmoothingFactor=0.990000
 InitialAverageFrameRate=0.016667
 PhysXTreeRebuildRate=10
 
+[/Script/AndroidFileServerEditor.AndroidFileServerRuntimeSettings]
+bEnablePlugin=True
+bAllowNetworkConnection=True
+SecurityToken=811F8F1C4E41692A119A55BE04E6DB61
+bIncludeInShipping=False
+bAllowExternalStartInShipping=False
+bCompileAFSProject=False
+bUseCompression=False
+bLogFiles=False
+bReportStats=False
+ConnectionType=USBOnly
+bUseManualIPAddress=False
+ManualIPAddress=
 

Unreal/Environments/Blocks/Config/DefaultInput.ini

@@ -1,20 +1,86 @@
 [/Script/Engine.InputSettings]
+-AxisConfig=(AxisKeyName="Gamepad_LeftX",AxisProperties=(DeadZone=0.25,Exponent=1.f,Sensitivity=1.f))
+-AxisConfig=(AxisKeyName="Gamepad_LeftY",AxisProperties=(DeadZone=0.25,Exponent=1.f,Sensitivity=1.f))
+-AxisConfig=(AxisKeyName="Gamepad_RightX",AxisProperties=(DeadZone=0.25,Exponent=1.f,Sensitivity=1.f))
+-AxisConfig=(AxisKeyName="Gamepad_RightY",AxisProperties=(DeadZone=0.25,Exponent=1.f,Sensitivity=1.f))
+-AxisConfig=(AxisKeyName="MouseX",AxisProperties=(DeadZone=0.f,Exponent=1.f,Sensitivity=0.07f))
+-AxisConfig=(AxisKeyName="MouseY",AxisProperties=(DeadZone=0.f,Exponent=1.f,Sensitivity=0.07f))
+-AxisConfig=(AxisKeyName="Mouse2D",AxisProperties=(DeadZone=0.f,Exponent=1.f,Sensitivity=0.07f))
++AxisConfig=(AxisKeyName="Gamepad_LeftX",AxisProperties=(DeadZone=0.250000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="Gamepad_LeftY",AxisProperties=(DeadZone=0.250000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="Gamepad_RightX",AxisProperties=(DeadZone=0.250000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="Gamepad_RightY",AxisProperties=(DeadZone=0.250000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="MouseX",AxisProperties=(DeadZone=0.000000,Sensitivity=0.070000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="MouseY",AxisProperties=(DeadZone=0.000000,Sensitivity=0.070000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="Mouse2D",AxisProperties=(DeadZone=0.000000,Sensitivity=0.070000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="MouseWheelAxis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="Gamepad_LeftTriggerAxis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="Gamepad_RightTriggerAxis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="Gamepad_Special_Left_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="Gamepad_Special_Left_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="Vive_Left_Trigger_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="Vive_Left_Trackpad_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="Vive_Left_Trackpad_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="Vive_Right_Trigger_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="Vive_Right_Trackpad_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="Vive_Right_Trackpad_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="MixedReality_Left_Trigger_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="MixedReality_Left_Thumbstick_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="MixedReality_Left_Thumbstick_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="MixedReality_Left_Trackpad_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="MixedReality_Left_Trackpad_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="MixedReality_Right_Trigger_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="MixedReality_Right_Thumbstick_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="MixedReality_Right_Thumbstick_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="MixedReality_Right_Trackpad_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="MixedReality_Right_Trackpad_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="OculusTouch_Left_Grip_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="OculusTouch_Left_Trigger_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="OculusTouch_Left_Thumbstick_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="OculusTouch_Left_Thumbstick_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="OculusTouch_Right_Grip_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="OculusTouch_Right_Trigger_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="OculusTouch_Right_Thumbstick_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="OculusTouch_Right_Thumbstick_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="ValveIndex_Left_Grip_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="ValveIndex_Left_Grip_Force",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="ValveIndex_Left_Trigger_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="ValveIndex_Left_Thumbstick_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="ValveIndex_Left_Thumbstick_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="ValveIndex_Left_Trackpad_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="ValveIndex_Left_Trackpad_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="ValveIndex_Left_Trackpad_Force",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="ValveIndex_Right_Grip_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="ValveIndex_Right_Grip_Force",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="ValveIndex_Right_Trigger_Axis",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="ValveIndex_Right_Thumbstick_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="ValveIndex_Right_Thumbstick_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="ValveIndex_Right_Trackpad_X",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="ValveIndex_Right_Trackpad_Y",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
++AxisConfig=(AxisKeyName="ValveIndex_Right_Trackpad_Force",AxisProperties=(DeadZone=0.000000,Sensitivity=1.000000,Exponent=1.000000,bInvert=False))
 bAltEnterTogglesFullscreen=True
 bF11TogglesFullscreen=True
 bUseMouseForTouch=False
 bEnableMouseSmoothing=True
 bEnableFOVScaling=True
-FOVScale=0.011110
-DoubleClickTime=0.200000
 bCaptureMouseOnLaunch=False
-DefaultViewportMouseCaptureMode=NoCapture
-bDefaultViewportMouseLock=False
-DefaultViewportMouseLockMode=DoNotLock
+bEnableLegacyInputScales=True
+bEnableMotionControls=True
+bFilterInputByPlatformUser=False
+bEnableInputDeviceSubsystem=True
+bShouldFlushPressedKeysOnViewportFocusLost=True
+bEnableDynamicComponentInputBinding=True
 bAlwaysShowTouchInterface=False
 bShowConsoleOnFourFingerTap=True
+bEnableGestureRecognizer=False
+bUseAutocorrect=False
+DefaultViewportMouseCaptureMode=NoCapture
+DefaultViewportMouseLockMode=DoNotLock
+FOVScale=0.011110
+DoubleClickTime=0.200000
+DefaultPlayerInputClass=/Script/EnhancedInput.EnhancedPlayerInput
+DefaultInputComponentClass=/Script/EnhancedInput.EnhancedInputComponent
 DefaultTouchInterface=/Engine/MobileResources/HUD/DefaultVirtualJoysticks.DefaultVirtualJoysticks
-ConsoleKey=None
 -ConsoleKeys=Tilde
 +ConsoleKeys=Tilde
 
-

Unreal/Environments/Blocks/Source/Blocks.Target.cs

@@ -9,7 +9,7 @@ public BlocksTarget(TargetInfo Target) : base(Target)
 	{
 		Type = TargetType.Game;
 		ExtraModuleNames.AddRange(new string[] { "Blocks" });
-
+        DefaultBuildSettings = BuildSettingsVersion.V4;
 		//bUseUnityBuild = false;
 		if (Target.Platform == UnrealTargetPlatform.Linux)
 			bUsePCHFiles = false;

Unreal/Environments/Blocks/Source/BlocksEditor.Target.cs

@@ -9,7 +9,7 @@ public BlocksEditorTarget(TargetInfo Target) : base(Target)
 	{
 		Type = TargetType.Editor;
 		ExtraModuleNames.AddRange(new string[] { "Blocks" });
-        DefaultBuildSettings = BuildSettingsVersion.V2;
+        DefaultBuildSettings = BuildSettingsVersion.V4;
         //bUseUnityBuild = false;
         //bUsePCHFiles = false;
     }