My team and I have been working hard on this project: https://peppy.bot
It's a direct replacement for ROS 2. We already have the OpenArm robot (https://openarm.dev) working on the platform, both v1.0 and v2.0, plus Isaac Sim and MuJoCo integration.
If you're in a hurry, head over to https://docs.peppy.bot/quickstart/ and get started in 5min.
Our long term vision is to allow anyone (even non-devs) to go from a prompt to real humanoid robot actions, first in simulation, then on the physical robot.
Happy to answer any question.
Peppy: https://peppy.bot
Quickstart (about 5 minutes): https://docs.peppy.bot/quickstart/
OpenArm: https://openarm.dev