SONIC Locomotion Report

GEAR-SONIC planner mode on Unitree G1 — idle → walk → idle with a lightweight torso support harness for stable visual debugging.

Controller: SonicLocomotionController (ONNX, CPU)
Model: nvidia/GEAR-SONIC planner
Robot: Unitree G1 29-DOF (lerobot/unitree-g1-mujoco)
Support: virtual torso harness (vertical + attitude only)

initial

Step: 200 | Cameras: global_view, head_camera | Capability: render_camera

global_view

head_camera

walking

Step: 600 | Cameras: global_view, head_camera | Capability: render_camera

global_view

head_camera

stopping

Step: 900 | Cameras: global_view, head_camera | Capability: render_camera

global_view

head_camera

terminal

Step: 1200 | Cameras: global_view, head_camera | Capability: render_camera

global_view

head_camera

Generated by examples/demos/sonic/locomotion.py --report