gr00t-WholeBodyControl/docs/source/references/index.md

Reference Documentation

These pages contain the original standalone documentation that previously lived as individual README_*.md files. They are preserved here as detailed references.

• Deployment Code & Program Flow — CLI arguments, logging, observation config, and visualization tools
• Observation Configuration — YAML config format, all observation types with dimensions, and how to create custom observations
• Motion Reference Data — reference motion file format, conversion, verification, and usage
• Kinematic Planner ONNX Model — detailed input/output specification for the ONNX-exported kinematic planner
• JetPack 6 Flashing Guide — flash the Orin NX on the Unitree G1
• Decoupled WBC (N1.5 / N1.6) — the earlier Decoupled WBC stack used in Gr00t N1.5 and N1.6