GRIT is a deployment framework for whole-body motion-tracking control on the Unitree G1 humanoid: ONNX policy, 50 Hz Python inference runtime, MuJoCo sim2sim, live PICO VR full-body teleoperation, and a native SDK2 hardware bridge with stale-command watchdog — a complete low-barrier pipeline for whole-body control and teleoperation data collection.
Open-source hand exoskeleton: 12 joint encoders, 8 tendon-driven motors, on-device Teensy control, and synchronized capture/EMG for motion capture, teleoperation and haptics research.