There are 2 repositories under whole-body-control topic.
An Architecture for the Versatile Control of Legged Robots
Robotics software featuring legged locomotion algorithms and a momentum-based controller core with optimization. Supporting software for world-class robots including humanoids, running birds, exoskeletons, mechs and more.
UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers
Official codebase for Teleoperation and Imitation Learning for Loco-manipulation (TRILL)
The Dynamic Whole-body Locomotion library (DWL)
Planning and Control Algorithms for Robotics
Python Implementation of Planning and Control
XBotControl framework: XBotCore + OpenSoT + CartesI/O
Robot Planning and Control (rpc) is a software framework designed for generating task trajectories (planning) and tracking the trajectories (control) for legged systems.
Scripts and configuration files to launch when bringing up REEM-C.
Controller implementations and plugins for communicating between the whole body controller libraries developed at ISIR, ocra-recipes, and the iCub Whole Body Interface, WBI, libraries.
ROS messages used by the whole-body MPC