Is it possible to setup a virtual wall in the Enviroment?

[williamcheong0616]

Is it possible to setup a virtual wall to see if the drone can navigate thru complex places?

By using RL

[JacopoPan]

Yes, of course, look at these lines for examples

gym-pybullet-drones/gym_pybullet_drones/envs/BaseRLAviary.py

Lines 99 to 128 in 5404871

	def _addObstacles(self):
	"""Add obstacles to the environment.
	Only if the observation is of type RGB, 4 landmarks are added.
	Overrides BaseAviary's method.
	"""
	if self.OBS_TYPE == ObservationType.RGB:
	p.loadURDF("block.urdf",
	[1, 0, .1],
	p.getQuaternionFromEuler([0, 0, 0]),
	physicsClientId=self.CLIENT
	)
	p.loadURDF("cube_small.urdf",
	[0, 1, .1],
	p.getQuaternionFromEuler([0, 0, 0]),
	physicsClientId=self.CLIENT
	)
	p.loadURDF("duck_vhacd.urdf",
	[-1, 0, .1],
	p.getQuaternionFromEuler([0, 0, 0]),
	physicsClientId=self.CLIENT
	)
	p.loadURDF("teddy_vhacd.urdf",
	[0, -1, .1],
	p.getQuaternionFromEuler([0, 0, 0]),
	physicsClientId=self.CLIENT
	)
	else:
	pass