Custom training environment about gym-pybullet-drones

[wagh311]

OK, I will try it. Thank you again!

[JacopoPan]

Hi @wagh311

just make a copy of class MultiHoverAviary, add the proper import/registrations in the init files (link, link)
Obstacles are added in the _addObstacles() method of BaseRLAviary.py but that is only called for RGB state spaces, you can simply do something similar in the init (and/or override the reset) in your new class.

[wagh311]

Hi @JacopoPan
Thank you for your suggestion. I would also like to ask, does gym-pybullet-drones support the domain randomization function?

[JacopoPan]

It should be straightforward to randomize the position of obstacles and the initial poses of the drones (from the init of the environment class), however, to randomize the physical properties (mass, inertia matrix) of the drones, you should consider that they are read from the URDF files in the assets/ folder (you could overwrite them in the code of BaseAviary)