elevation map???

[JavieYuan]

The paper mentions that the input to the critic is an elevation map, but it seems that this part is not present in the project code. So where is the visual perception input processing?

[JavieYuan]

Another question... How do you carry out the actual deployment? Do you have the code for the sim2real part? What should we do for actual deployment?

[dwei-k]

Sorry for the delayed response.

You are right about the elevation map. It was missing from this code release due to an oversight. We will push a new version with this update sortly.

For actual deployment and the sim2real process, please refer to the implementation in HOMIE. For deployment on a real robot, you can follow the HOMIE and integrate a camera into the setup.

[sanqianfengliu]

Sorry for the delayed response.抱歉回复延迟了。

You are right about the elevation map. It was missing from this code release due to an oversight. We will push a new version with this update sortly.你关于高程图的说法是对的。由于疏忽，这个代码发布中缺少了高程图部分。我们将会很快推出一个包含此更新的新版本。

For actual deployment and the sim2real process, please refer to the implementation in HOMIE. For deployment on a real robot, you can follow the HOMIE and integrate a camera into the setup.对于实际部署和 sim2real 过程，请参考 HOMIE 中的实现。如果你要在真实机器人上部署，可以按照 HOMIE 进行，并将摄像头集成到设置中。

hello, have you already push a new version with elevation map?

[dwei-k]

Sorry, we have been busy with new work recently and have not yet found the time to address this issue.
You can refer to other repositories for guidance on adding an elevation map for critic, which I believe should not be too complicated.

[ZZQ0316]

Sorry, we have been busy with new work recently and have not yet found the time to address this issue. You can refer to other repositories for guidance on adding an elevation map for critic, which I believe should not be too complicated.

Hello, isn’t this part the elevation map input to the critic?

MoRE/legged_gym/envs/g1_loco/g1_16dof_loco_env.py

Line 249 in fcfe4f7

if self.cfg.terrain.measure_heights: # 187