Cartwheel Control
Whole-body motion-tracking policies for humanoid robots, in simulation. Given the robot's recent joint and IMU readings and the next 10 frames of a reference motion, a policy outputs joint position targets at 50 Hz. Code: GitHub.
| Folder | Robot |
|---|---|
rp1/ |
RoboParty RP1, 28 joints |
asimov-1/ |
Menlo Asimov-1, 25 joints |
g1/ |
Unitree G1, 29 joints |
Each folder holds policy.safetensors, config.json, the robot model (model/, MJCF and meshes),
robot.glb (the robot in its colours, one node per body) and example motions (motions/).
git clone https://github.com/Cartwhl/cartwheel-control && cd cartwheel-control && uv sync
uv run cartwheel-play --robot rp1
Simulation only; neither policy has run on hardware.
License
Model weights are licensed under the Cartwheel Open Model License.
The robot models (model/, robot.glb) are third-party and keep their own licenses: see NOTICE. Code is licensed under Apache 2.0.