How to add air flow disturbances, or similar forms of disturbances?

[LvXinyu2003]

I want to verify the algorithm's ability to resist interference. How can I add air flow disturbances to a drone under gpy-bullet-drones conditions?

[JacopoPan]

you can add an additional

p.applyExternalForce(self.DRONE_IDS[nth_drone], 
                               4, 
                               forceObj=[x, y, z], 
                               posObj=[0, 0, 0], 
                               flags=p.LINK_FRAME, 
                               physicsClientId=self.CLIENT 
                               ) 

after line 711

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

Lines 679 to 711 in 3d7b12e

	def _physics(self,
	rpm,
	nth_drone
	):
	"""Base PyBullet physics implementation.
	Parameters
	----------
	rpm : ndarray
	(4)-shaped array of ints containing the RPMs values of the 4 motors.
	nth_drone : int
	The ordinal number/position of the desired drone in list self.DRONE_IDS.
	"""
	forces = np.array(rpm**2)*self.KF
	torques = np.array(rpm**2)*self.KM
	if self.DRONE_MODEL == DroneModel.RACE:
	torques = -torques
	z_torque = (-torques[0] + torques[1] - torques[2] + torques[3])
	for i in range(4):
	p.applyExternalForce(self.DRONE_IDS[nth_drone],
	i,
	forceObj=[0, 0, forces[i]],
	posObj=[0, 0, 0],
	flags=p.LINK_FRAME,
	physicsClientId=self.CLIENT
	)
	p.applyExternalTorque(self.DRONE_IDS[nth_drone],
	4,
	torqueObj=[0, 0, z_torque],
	flags=p.LINK_FRAME,
	physicsClientId=self.CLIENT
	)

[LvXinyu2003]

you can add an additional

p.applyExternalForce(self.DRONE_IDS[nth_drone], 
                               4, 
                               forceObj=[x, y, z], 
                               posObj=[0, 0, 0], 
                               flags=p.LINK_FRAME, 
                               physicsClientId=self.CLIENT 
                               ) 

after line 711

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

Lines 679 to 711 in 3d7b12e

	def _physics(self,
	rpm,
	nth_drone
	):
	"""Base PyBullet physics implementation.
	Parameters
	----------
	rpm : ndarray
	(4)-shaped array of ints containing the RPMs values of the 4 motors.
	nth_drone : int
	The ordinal number/position of the desired drone in list self.DRONE_IDS.
	"""
	forces = np.array(rpm**2)*self.KF
	torques = np.array(rpm**2)*self.KM
	if self.DRONE_MODEL == DroneModel.RACE:
	torques = -torques
	z_torque = (-torques[0] + torques[1] - torques[2] + torques[3])
	for i in range(4):
	p.applyExternalForce(self.DRONE_IDS[nth_drone],
	i,
	forceObj=[0, 0, forces[i]],
	posObj=[0, 0, 0],
	flags=p.LINK_FRAME,
	physicsClientId=self.CLIENT
	)
	p.applyExternalTorque(self.DRONE_IDS[nth_drone],
	4,
	torqueObj=[0, 0, z_torque],
	flags=p.LINK_FRAME,
	physicsClientId=self.CLIENT
	)

I understand, thank you for your reply!