We provide three environments as part of SEAN an indoor scene modeled after our real world lab and a large outdoor scene. We also provide instructions for importing and using the Windridge city environment.

Lab Scene

The lab scene is modeled after our real world lab situation and is available under the Scenes folder of the Unity project.

For details on using the lab scene, please see the instructions on running the simulator.

Not only are the Unity components open source as part of the Unity project, but also the original Maya meshes are available as well, if you would like to make edits to components of the scene.

Warehouse Scene

The warehouse is modeled to resemble a shipping warehouse scene.

Outdoor Scene

The outdoor scene is a large city environment, also available in the Scenes folder of the Unity project.

The original Maya meshes for this scene are also available.

Windridge City

While we can’t include assets from the asset store in our source code, you can easily import environments from the Unity Asset Store such as Windridge City. This portion of the guide explains how.

First, install the Post Processing plugin from the Unity Package Manager by opening Window -> Package Manager, finding the Post Processing plugin and click Install. Like so:

Within Unity, open the asset store tab, download and import Windridge City. After the scene has just been imported and opened, you screen should look like this:

Once it’s imported, in the Project tab, open the Windridge City Demo Scene.unity. Then, click on the Main Camera in the Hierarchy tab. Hold your cursor over the Scene view and press F on the keyboard to center the view.

Change the player rending Color Space to Linear, open Edit -> Project Settings... and on the left, select Player then under Other Settings change the Colors Space* setting to Linear and let it re-build.

Now re-generate the lighting by opening Windows -> Rendering -> Lighting Settings. At the bottom of the Lighting tab, click ‘Generate Lighting`. You’ll see in the bottom-right corner of the scene a loading bar as lighting re-generates. This will take a few minutes (it took about 15 minutes on my machine) and all your CPU cores (hopefully not all your RAM though). We tested on a machine with 16GB of RAM and it worked fine. Your scene should look like this now: