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This repository contains a C++ implementation of a whole-body control (WBC) system for humanoid robots using reinforcement learning and motion tracking. The system features a state machine control with multiple states, including Passive, Loco (locomotion), and WBC. It utilizes ONNX Runtime for fast inference with ONNX models and provides a JSON-based configuration for easy parameter tuning.
RATING:
MAINT: maintained
DRIFT: low
▸ 2 reusable components found
── end of results ──