Welcome to GR00T Whole-Body Control (WBC)! This is a unified platform for developing and deploying advanced humanoid controllers. This includes: Decoupled WBC models used in NVIDIA Isaac-Gr00t, Gr00t N1.5 and N1.6 and GEAR-SONIC
ROS 2 Jazzy autonomy stack for the Unitree G1 humanoid, developed in simulation first on unitree_mujoco: a learned walking policy in ros2_control, Nav2 navigation, MoveIt 2 manipulation and BehaviorTree.CPP missions, with the canopy world model and the NervROS agent you talk to.