fix static rendering issue

uzh-rpg · Mar 27, 2022 · 1c16ffd · 1c16ffd
1 parent 1c7e7e2
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diff --git a/README.md b/README.md
@@ -1,6 +1,6 @@
 # DodgeDrone: Vision-based Agile Drone Flight (ICRA 2022 Competition)
 
-[![IMAGE ALT TEXT HERE](docs/imgs/video.jpg)](https://youtu.be/LSu25NH6fW0)
+[![IMAGE ALT TEXT HERE](docs/imgs/video.png)](https://youtu.be/LSu25NH6fW0)
 
 
 Would you like to push the boundaries of drone navigation? Then participate in the dodgedrone competition!
@@ -14,6 +14,10 @@ This codebase provides the following functionalities:
 
 All evaluation during the competition will be performed using the same ROS evaluation, but on previously unseen environments / obstacle configurations.
 
+## Update
+
+- **27 March 2022** Fix a static object rendering issue. Please download the new Unity Standalone using [this](https://github.com/uzh-rpg/agile_flight/blob/main/setup_py.bash#L32-L39). Also, git pull the project.
+
 ## Flight API
 
 This library contains the core of our testing API. It will be used for evaluating all submitted policies. The API is completely independent on how you build your navigation system. You could either use our reinforcement learning interface (more on this below) or add your favourite navigation system.

diff --git a/docs/imgs/video.jpg b/docs/imgs/video.jpg
diff --git a/docs/imgs/video.png b/docs/imgs/video.png
diff --git a/envsim/resources/rviz/envsim.rviz b/envsim/resources/rviz/envsim.rviz
@@ -200,7 +200,7 @@ Visualization Manager:
       Unreliable: false
       Value: true
     - Class: rviz/Image
-      Enabled: true
+      Enabled: false
       Image Topic: dodgeros_pilot/unity/depth
       Max Value: 1
       Median window: 5
@@ -210,10 +210,10 @@ Visualization Manager:
       Queue Size: 2
       Transport Hint: raw
       Unreliable: false
-      Value: true
+      Value: false
     - Class: rviz/Image
-      Enabled: false
-      Image Topic: /kingfisher/dodgeros_pilot/unity/image
+      Enabled: true
+      Image Topic: /kingfisher/dodgeros_pilot/unity/depth
       Max Value: 1
       Median window: 5
       Min Value: 0
@@ -222,7 +222,7 @@ Visualization Manager:
       Queue Size: 2
       Transport Hint: raw
       Unreliable: false
-      Value: false
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -279,7 +279,7 @@ Window Geometry:
   Hide Right Dock: true
   Image:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000031800000145fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000026d00000145000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000006bdfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000006bd000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b2000000000000000000000002000007380000022afc0100000003fb0000000a0049006d0061006700650100000000000003910000005e00fffffffc00000397000003a10000005e00fffffffa000000010200000002fb0000000a0049006d006100670065000000003d0000027c0000001600fffffffb0000000a0049006d0061006700650100000000ffffffff0000001600fffffffb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000041a0000014500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000031800000145fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000026d00000145000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000006bdfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000006bd000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b2000000000000000000000002000007380000022afc0100000003fb0000000a0049006d0061006700650100000000000003910000005e00fffffffc00000397000003a10000007b00fffffffa000000010200000002fb0000000a0049006d006100670065010000003d0000027c0000001600fffffffb0000000a0049006d0061006700650100000000ffffffff0000001600fffffffb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000041a0000014500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:

diff --git a/flightmare b/flightmare
+1 −5		flightlib/include/flightlib/bridges/unity_bridge.hpp
+3 −0		flightlib/include/flightlib/bridges/unity_message_types.hpp
+9 −8		flightlib/src/bridges/unity_bridge.cpp
+1 −1		flightlib/src/envs/vision_env/vision_env.cpp
+1 −1		flightlib/src/objects/quadrotor.cpp
+4 −9		flightpy/configs/scene.yaml
+1 −1		flightpy/configs/vision/config.yaml