Humanoid Control
One low-level control stack for two Berkeley bimanual humanoids — Lite and Prime.
Built on ROS 2 Jazzy and ros2_control under PREEMPT_RT. The same controllers, MIT-mode command interfaces, and message schemas run across both robots; mock, MuJoCo, and real CAN / EtherCAT hardware are selectable from a single xacro argument. Robot differences live entirely in URDF and hardware-plugin selection.
Documentation
Getting started
Install with pixi, then bring up Lite in MuJoCo in about ten minutes — no system-wide ROS install required.
Tutorials
Learning-oriented walkthroughs: drive a single Robstride, walk an FSM in simulation, run a tracking policy.
How-to guides
Task recipes for real work: first real bringup, calibrate the zero pose, recover from a fault, probe the CAN bus.
Concepts
The reasoning layer: the architecture, the five-mode FSM, the MIT command surface, the safety pipeline.
Reference
Dense and scannable: hardware specs, packages, controllers, launch args, message schemas, troubleshooting.