obstacle avoidance?

[ngthanhtin]

Hi i would like to ask how to adjust the env for terminating when encounter an obstacle.
In vision_env.cpp, I have changed the code as following:

and then,
catkin build flightlib
But the agent still is going through obstacles as the following video:
https://www.youtube.com/watch?v=350ardLDI1Q&ab_channel=T%C3%ADnNguy%E1%BB%85n

So could you tell me how to do this?

Thanks

[yun-long]

this code is used for reinforcement learning, which does not use any ROS.

when you change the vision_env.cpp, you should do

cd flightlib/build
cmake ..
make -j10
pip install . 

by doing so, the flightgym python package will be updated.
the flightgym package is used in the run_vision_ppo.py

[ngthanhtin]

Thanks, I did it.