Getting started with Flightmare for autonomous drone racing, need guidance

Hey everyone,

I’m setting up Flightmare for an autonomous drone racing project and could use some guidance.

So far:

– I’ve installed Flightmare and opened the “flightmare_unity” project in Unity 2020.1 (as recommended)

– The Industrial scene is available and working

Issues I’m facing:

1. Missing warehouse scene

   I’ve seen references to warehouse/other environments in Flightmare, but in the Unity project I only have the Industrial scene under Assets/Environments.

   Is the warehouse scene not included in the repo? If so, how do people usually get or recreate it?

2. Importing custom environments

   I tried importing external models (FBX / assets) to create a hangar/warehouse-like environment, but I’m running into compatibility issues with Unity 2020.1 (materials, shaders, etc.).

   What’s the recommended way to bring in custom environments for Flightmare? Should I stick to Asset Store packages compatible with 2020, or is there a better workflow?

3. What to do after setting up the scene

   Once I have a working environment in Unity:

– how do I properly connect it to Flightmare (scene IDs, build settings, etc.)?

– are there any examples of using custom scenes for vision-based tasks like gate detection or racing?

Context:

– Goal is to build a perception + control pipeline for autonomous drone racing (camera-based and IMU)

– I’m currently focusing on simulation + environment setup before moving to perception

1. Is flightmare the best option for the same ?

Any advice, example repos, or resources would really help.

Thanks!