How to modify scenes in Airsim UnityDemo

[sandilyasg]

I looked into using AirSim on Unity and ran the UnityDemo with my Linux Ubuntu 18.04 system, Unity Hub 3.5.2, editor version 2019.3.12f1.

I want to simulate 4 quadrotors each with RGB, depth, and semantic segmentation streams, and also be able to send them control inputs based on my algorithm that uses perception from the streams. I am trying to find a guide that will help me understand how I can edit the UnityDemo project so that:

1. I can add multiple quadrotors.
2. I can change the environment scene to a city, something like Windridge City.
3. Remove unnecessary features like in "SimModeSelector" where I have to manually select whether the model is a car or drone; I want it to be drone by default.
4. Extract the image streams and send control inputs to the drones. I see the hello_drone.py example from which I am planning to adapt.