Earlier quoted context omitted.
Homotopy Type Theory axiomatizes weak omega groupoids; it gives you formal rules you can manipulate to reason about weak omega groupoids. This is exactly the same way, say, ZFC axiomatizes sets of sets of sets… "You're allowed to shuffle symbols in these ways, and the results of doing so we shall call theorems". There's not an intrinsic sense in which sets are "foundational objects" and groupoids aren't; yes, you can…
Well, it's pretty easy to say that math started with the counting numbers. It's not much more of a reach to say that when we were counting some collection of things, we were counting the elements of a set. So saying that sets are the foundation of mathematics is, historically, quite natural. Weak omega groupoids? Not so much. [Edit: Excellent ELI5, though. Thanks.]
Discrete sets of atomic objects are in fact (special) weak omega-groupoids and aren't ZF-sets. (In a ZF-set, every element of a set is itself a set, which is not true of, say, {red, green, blue}, unless we impose some completely artificial and obfuscating coding). You could just as well say that when we were counting the elements of sets thousands of years ago, we were doing the first rung of building up weak omega-groupoids, rather than the first rung of building up ZF-sets.
The name "weak omega-groupoids" makes them sound more intimidating as a concept than they actually are. They're just certain kinds of shapes. A bunch of dots (like a discrete set) is a weak omega-groupoid. A circle is a weak omega-groupoid. Spheres and donuts are weak omega-groupoids.
That said, I don't assert that weak omega-groupoids are any more intrinsically a foundational concept than ZF-sets; rather, I just note that ZF-sets aren't particularly elementary, either.