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MultiModalWBC is a fully open-source, IsaacLab-based framework for multi-modal whole-body control, designed for motion imitation, motion tracking, and task-conditioned control in legged robots. The framework unifies robot proprioceptive states and multi-modal human motion conditions into a consistent interface
Python161 stars8 forks
humanoid-robotissaclabreinforcement-learningroboticssimulations
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