UE4 throws exception when using Airsim

[wjh-scut]

Bug report

• AirSim Version/#commit:1.2
• UE/Unity version:4.27
• autopilot version:
• OS Version:Win10

What's the issue you encountered?

I am using deep reinforcement learning to train multiple drones, but during the training process, UE4 often throws exceptions, causing the simulation to interrupt. I want to know what is causing this?

Settings

`{
"SeeDocsAt": "https://github.com/Microsoft/AirSim/blob/master/docs/settings.md",
"SettingsVersion": 1.2,
"CameraDefaults": {
"CaptureSettings": [
{
"ImageType": 0,
"Width": 640,
"Height": 480,
"FOV_Degrees": 90
},
{
"ImageType": 1,
"Width": 320,
"Height": 240,
"FOV_Degrees": 90
},
{
"ImageType": 2,
"Width": 84,
"Height": 84,
"FOV_Degrees": 90
},
{
"ImageType": 3,
"Width": 320,
"Height": 240,
"FOV_Degrees": 90
},
{
"ImageType": 4,
"Width": 320,
"Height": 240,
"FOV_Degrees": 90
},
{
"ImageType": 5,
"Width": 320,
"Height": 240,
"FOV_Degrees": 90
}
]
},
"SimMode": "Multirotor",
"ClockSpeed": 5,
"Vehicles": {
"UAV0": {
"VehicleType": "SimpleFlight",

  "X": 0,
  "Y": 0,
  "Z": 0,
  "Yaw": 0,
  "Sensors": {
    "Distance0": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": 0,
      "MaxDistance": 10
    },
    "Distance1": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": 30,
      "MaxDistance": 10
    },
    "Distance2": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": 60,
      "MaxDistance": 10
    },
    "Distance3": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": 90,
      "MaxDistance": 10
    },
    "Distance4": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": 120,
      "MaxDistance": 10
    },
    "Distance5": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": 150,
      "MaxDistance": 10
    },
    "Distance6": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": 180,
      "MaxDistance": 10
    },
    "Distance7": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": -30,
      "MaxDistance": 10
    },
    "Distance8": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": -60,
      "MaxDistance": 10
    },
    "Distance9": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": -90,
      "MaxDistance": 10
    },
    "Distance10": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": -120,
      "MaxDistance": 10
    },
    "Distance11": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": -150,
      "MaxDistance": 10
    }
  }
},
"UAV1": {
  "VehicleType": "SimpleFlight",
  "X": 5,
  "Y": 0,
  "Z": 0,
  "Yaw": 0,
  "Sensors": {
    "Distance0": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": 0,
      "MaxDistance": 10
    },
    "Distance1": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": 30,
      "MaxDistance": 10
    },
    "Distance2": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": 60,
      "MaxDistance": 10
    },
    "Distance3": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": 90,
      "MaxDistance": 10
    },
    "Distance4": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": 120,
      "MaxDistance": 10
    },
    "Distance5": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": 150,
      "MaxDistance": 10
    },
    "Distance6": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": 180,
      "MaxDistance": 10
    },
    "Distance7": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": -30,
      "MaxDistance": 10
    },
    "Distance8": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": -60,
      "MaxDistance": 10
    },
    "Distance9": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": -90,
      "MaxDistance": 10
    },
    "Distance10": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": -120,
      "MaxDistance": 10
    },
    "Distance11": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": -150,
      "MaxDistance": 10
    }
  }
},
"UAV2": {
  "VehicleType": "SimpleFlight",
  "X": -5,
  "Y": 0,
  "Z": 0,
  "Yaw": 0,
  "Sensors": {
    "Distance0": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": 0,
      "MaxDistance": 10
    },
    "Distance1": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": 30,
      "MaxDistance": 10
    },
    "Distance2": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": 60,
      "MaxDistance": 10
    },
    "Distance3": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": 90,
      "MaxDistance": 10
    },
    "Distance4": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": 120,
      "MaxDistance": 10
    },
    "Distance5": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": 150,
      "MaxDistance": 10
    },
    "Distance6": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": 180,
      "MaxDistance": 10
    },
    "Distance7": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": -30,
      "MaxDistance": 10
    },
    "Distance8": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": -60,
      "MaxDistance": 10
    },
    "Distance9": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": -90,
      "MaxDistance": 10
    },
    "Distance10": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": -120,
      "MaxDistance": 10
    },
    "Distance11": {
      "SensorType": 5,
      "Enabled": true,
      "DrawDebugPoints": true,
      "Yaw": -150,
      "MaxDistance": 10
    }
  }
},
"UAV3": {
  "VehicleType": "SimpleFlight",
  "X": 0,
  "Y": 10,
  "Z": 0,
  "Yaw": 0
}

}
}`

How can the issue be reproduced?

I'm using deep reinforcement learning to train multiple drones and this question comes up quite often. I'm using a block environment and adding some cylinders as obstacles.

Include full error message in text form

What's better than filing an issue? Filing a pull request :).