Codebase adaptation to H1 Version 2

[mohamdev]

Hi, thank you for your amazing work!

I'm trying to reproduce it on H1 version 2 (H1-2), that has more degrees of freedom than the H1 version 1 (H1-1), used in the current codebase.

I've noticed that the H1-2 is used in some demonstrations on the project page. Is there an implementation of the codebase adapted to H1-2? Or did you just remove the extra dofs present on H1-2 to make it work with H1-1 codebase?

Thanks for your answer, and thanks again for the amazing work!

Kind regards,
ADJEL Mohamed

[pulkitg01]

Hi mohamdev,

The current codebase is specifically set up to support the Unitree H1 robot, but it can be extended to other platforms. Please refer to the answer in the link for the recommended steps to adapt it for the H1-2 robot.