stand
ticks 0–49 · midpoint 24 · 50 ticks / 1.00 s
GEAR-SONIC
Real CPU planner_sonic.onnx run inside the MuJoCo-backed G1 showcase, driven by an explicit staged velocity-tracking script instead of a single constant command. This page keeps the full charts, playback, and downloadable artifacts.
GEAR-SONIC
NVIDIA GR00T · Planner-only velocity tracking on the published G1 planner contract
gear_sonic
BAD REAL MUJOCO SIM VELOCITY_SCHEDULE
Real CPU planner_sonic.onnx run inside the MuJoCo-backed G1 showcase, driven by an explicit staged velocity-tracking script instead of a single constant command.
Robotunitree_g1_gear_sonic
Ticks405
Avg inference4.279 ms
Achieved rate41.75 Hz
Embedded Rerun viewer
Fetches
run.rrd lazily when the viewer enters the viewport.
Preparing interactive view
Loads the viewer runtime and recording on demand when visible.
Case key
gear_sonic
Policy family
gear_sonic
Command kind
velocity_schedule
Expected behavior
Planner-only velocity tracking on the published G1 planner contract
Showcase transport
MuJoCo sim
Embodiment
assets/robots/groot_g1_gear_sonic/g1_29dof_old.xml
MuJoCo model variant
upstream-mjcf+ground-plane
Command data
[1.000, 0.000, 0.000, 0.000, 0.000, 0.000, ...]
Checkpoint source
Published GEAR-SONIC ONNX checkpoints
Demo family
Velocity tracking
Demo sequence
Stand, accelerate from 0.0 to 0.6 m/s over 2 s, command a 90 degree right turn over 1 s, accelerate into a 1.0 m/s run over 3 s, then settle back to stand.
Model artifact
models/gear-sonic/planner_sonic.onnx
Command source
runtime.velocity_schedule
First target frame
[-0.300, -0.082, -0.053, 0.887, -0.387, -0.039, ...]
Last target frame
[-0.387, -0.734, -0.190, 1.020, 0.277, -0.182, ...]
Quality verdict
BAD
Verdict basis
achieved rate 41.7 Hz < 45; vx RMSE 0.736 >= 0.6; yaw RMSE 1.916 >= 1.5
Mean joint error
0.341 rad
Joint error p95
1.535 rad
Peak joint error
4.364 rad
Min base height
0.155 m
Frames height < 0.4 m
351
VX RMSE
0.736 m/s
Yaw RMSE
1.916 rad/s
Heading change
-11.1 deg
Forward distance
-0.071 m
Rerun recording · JSON summary · run log · Proof-pack manifest · configs/showcase/gear_sonic_real.toml
Phase review
The proof pack follows the authored phase timeline directly, so the staged locomotion story reads as stand → accelerate → turn → run → settle instead of generic checkpoint archaeology.
accelerate
ticks 50–149 · midpoint 99 · 100 ticks / 2.00 s
turn
ticks 150–199 · midpoint 174 · 50 ticks / 1.00 s
run
ticks 200–349 · midpoint 274 · 150 ticks / 3.00 s
settle
ticks 350–399 · midpoint 374 · 50 ticks / 1.00 s
Target timestamp selector
Actual / robot timestamp selector
stand
Midpoint capture at tick 24; phase-end review anchored at tick 49.
Midpoint
Phase End
Debug metadata
Static tick and asset-path contract for manual debugging without driving the browser controls.
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accelerate
Midpoint capture at tick 99; phase-end review anchored at tick 149.
Midpoint
Phase End
Debug metadata
Static tick and asset-path contract for manual debugging without driving the browser controls.
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turn
Midpoint capture at tick 174; phase-end review anchored at tick 199.
Midpoint
Phase End
Debug metadata
Static tick and asset-path contract for manual debugging without driving the browser controls.
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],
"frame_index": 204,
"frame_source": "canonical_replay_trace",
"lag_ms": 100.0,
"lag_ticks": 5,
"relative_dir": "roboharness_run/trial_001/turn_end_tick_0199/target_lag_5",
"selection_reason": "turn target pose sampled at +5 ticks from phase end",
"sim_time_secs": 4.079999999999773,
"tick": 204
}
],
"timeline": {
"duration_secs": 1.0,
"duration_ticks": 50,
"end_tick": 199,
"midpoint_tick": 174,
"start_tick": 150
}
}
run
Midpoint capture at tick 274; phase-end review anchored at tick 349.
Midpoint
Phase End
Debug metadata
Static tick and asset-path contract for manual debugging without driving the browser controls.
{
"actual_variants": [
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 349,
"frame_source": "canonical_replay_trace",
"lag_ms": 0.0,
"lag_ticks": 0,
"relative_dir": "roboharness_run/trial_001/run_end_tick_0349/lag_0",
"selection_reason": "run phase end actual response at +0 ticks",
"sim_time_secs": 6.979999999999453,
"tick": 349
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 350,
"frame_source": "canonical_replay_trace",
"lag_ms": 20.0,
"lag_ticks": 1,
"relative_dir": "roboharness_run/trial_001/run_end_tick_0349/lag_1",
"selection_reason": "run phase end actual response at +1 ticks",
"sim_time_secs": 6.999999999999451,
"tick": 350
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 351,
"frame_source": "canonical_replay_trace",
"lag_ms": 40.0,
"lag_ticks": 2,
"relative_dir": "roboharness_run/trial_001/run_end_tick_0349/lag_2",
"selection_reason": "run phase end actual response at +2 ticks",
"sim_time_secs": 7.019999999999449,
"tick": 351
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 352,
"frame_source": "canonical_replay_trace",
"lag_ms": 60.0,
"lag_ticks": 3,
"relative_dir": "roboharness_run/trial_001/run_end_tick_0349/lag_3",
"selection_reason": "run phase end actual response at +3 ticks",
"sim_time_secs": 7.039999999999447,
"tick": 352
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 353,
"frame_source": "canonical_replay_trace",
"lag_ms": 80.0,
"lag_ticks": 4,
"relative_dir": "roboharness_run/trial_001/run_end_tick_0349/lag_4",
"selection_reason": "run phase end actual response at +4 ticks",
"sim_time_secs": 7.0599999999994445,
"tick": 353
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 354,
"frame_source": "canonical_replay_trace",
"lag_ms": 100.0,
"lag_ticks": 5,
"relative_dir": "roboharness_run/trial_001/run_end_tick_0349/lag_5",
"selection_reason": "run phase end actual response at +5 ticks",
"sim_time_secs": 7.079999999999442,
"tick": 354
}
],
"default_review": {
"actual_frame_index": 352,
"actual_lag_ms": 60.0,
"actual_lag_ticks": 3,
"actual_relative_dir": "roboharness_run/trial_001/run_end_tick_0349/lag_3",
"actual_tick": 352,
"target_frame_index": 349,
"target_lag_ms": 0.0,
"target_lag_ticks": 0,
"target_relative_dir": "roboharness_run/trial_001/run_end_tick_0349/target_lag_0",
"target_tick": 349
},
"midpoint": {
"cameras": [
"track",
"side",
"top"
],
"frame_index": 274,
"frame_source": "canonical_replay_trace",
"lag_ms": 0.0,
"lag_ticks": 0,
"relative_dir": "roboharness_run/trial_001/run_midpoint_tick_0274",
"selection_reason": "run midpoint from the explicit phase timeline",
"sim_time_secs": 5.4799999999996185,
"tick": 274
},
"phase_end_anchor": {
"cameras": [
"track",
"side",
"top"
],
"frame_index": 349,
"frame_source": "canonical_replay_trace",
"lag_ms": 0.0,
"lag_ticks": 0,
"phase_end_tick": 349,
"relative_dir": "roboharness_run/trial_001/run_end_tick_0349/lag_3",
"selection_reason": "run phase end with positive-lag actual-response review",
"sim_time_secs": 6.979999999999453,
"tick": 349
},
"phase_name": "run",
"target_variants": [
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 349,
"frame_source": "canonical_replay_trace",
"lag_ms": 0.0,
"lag_ticks": 0,
"relative_dir": "roboharness_run/trial_001/run_end_tick_0349/target_lag_0",
"selection_reason": "run target pose sampled at +0 ticks from phase end",
"sim_time_secs": 6.979999999999453,
"tick": 349
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 350,
"frame_source": "canonical_replay_trace",
"lag_ms": 20.0,
"lag_ticks": 1,
"relative_dir": "roboharness_run/trial_001/run_end_tick_0349/target_lag_1",
"selection_reason": "run target pose sampled at +1 ticks from phase end",
"sim_time_secs": 6.999999999999451,
"tick": 350
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 351,
"frame_source": "canonical_replay_trace",
"lag_ms": 40.0,
"lag_ticks": 2,
"relative_dir": "roboharness_run/trial_001/run_end_tick_0349/target_lag_2",
"selection_reason": "run target pose sampled at +2 ticks from phase end",
"sim_time_secs": 7.019999999999449,
"tick": 351
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 352,
"frame_source": "canonical_replay_trace",
"lag_ms": 60.0,
"lag_ticks": 3,
"relative_dir": "roboharness_run/trial_001/run_end_tick_0349/target_lag_3",
"selection_reason": "run target pose sampled at +3 ticks from phase end",
"sim_time_secs": 7.039999999999447,
"tick": 352
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 353,
"frame_source": "canonical_replay_trace",
"lag_ms": 80.0,
"lag_ticks": 4,
"relative_dir": "roboharness_run/trial_001/run_end_tick_0349/target_lag_4",
"selection_reason": "run target pose sampled at +4 ticks from phase end",
"sim_time_secs": 7.0599999999994445,
"tick": 353
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 354,
"frame_source": "canonical_replay_trace",
"lag_ms": 100.0,
"lag_ticks": 5,
"relative_dir": "roboharness_run/trial_001/run_end_tick_0349/target_lag_5",
"selection_reason": "run target pose sampled at +5 ticks from phase end",
"sim_time_secs": 7.079999999999442,
"tick": 354
}
],
"timeline": {
"duration_secs": 3.0,
"duration_ticks": 150,
"end_tick": 349,
"midpoint_tick": 274,
"start_tick": 200
}
}
settle
Midpoint capture at tick 374; phase-end review anchored at tick 399.
Midpoint
Phase End
Debug metadata
Static tick and asset-path contract for manual debugging without driving the browser controls.
{
"actual_variants": [
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 399,
"frame_source": "canonical_replay_trace",
"lag_ms": 0.0,
"lag_ticks": 0,
"relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/lag_0",
"selection_reason": "settle phase end actual response at +0 ticks",
"sim_time_secs": 7.979999999999343,
"tick": 399
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 400,
"frame_source": "canonical_replay_trace",
"lag_ms": 20.0,
"lag_ticks": 1,
"relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/lag_1",
"selection_reason": "settle phase end actual response at +1 ticks",
"sim_time_secs": 7.999999999999341,
"tick": 400
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 401,
"frame_source": "canonical_replay_trace",
"lag_ms": 40.0,
"lag_ticks": 2,
"relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/lag_2",
"selection_reason": "settle phase end actual response at +2 ticks",
"sim_time_secs": 8.019999999999348,
"tick": 401
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 402,
"frame_source": "canonical_replay_trace",
"lag_ms": 60.0,
"lag_ticks": 3,
"relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/lag_3",
"selection_reason": "settle phase end actual response at +3 ticks",
"sim_time_secs": 8.039999999999354,
"tick": 402
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 403,
"frame_source": "canonical_replay_trace",
"lag_ms": 80.0,
"lag_ticks": 4,
"relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/lag_4",
"selection_reason": "settle phase end actual response at +4 ticks",
"sim_time_secs": 8.059999999999361,
"tick": 403
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 404,
"frame_source": "canonical_replay_trace",
"lag_ms": 100.0,
"lag_ticks": 5,
"relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/lag_5",
"selection_reason": "settle phase end actual response at +5 ticks",
"sim_time_secs": 8.079999999999368,
"tick": 404
}
],
"default_review": {
"actual_frame_index": 402,
"actual_lag_ms": 60.0,
"actual_lag_ticks": 3,
"actual_relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/lag_3",
"actual_tick": 402,
"target_frame_index": 399,
"target_lag_ms": 0.0,
"target_lag_ticks": 0,
"target_relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/target_lag_0",
"target_tick": 399
},
"midpoint": {
"cameras": [
"track",
"side",
"top"
],
"frame_index": 374,
"frame_source": "canonical_replay_trace",
"lag_ms": 0.0,
"lag_ticks": 0,
"relative_dir": "roboharness_run/trial_001/settle_midpoint_tick_0374",
"selection_reason": "settle midpoint from the explicit phase timeline",
"sim_time_secs": 7.479999999999398,
"tick": 374
},
"phase_end_anchor": {
"cameras": [
"track",
"side",
"top"
],
"frame_index": 399,
"frame_source": "canonical_replay_trace",
"lag_ms": 0.0,
"lag_ticks": 0,
"phase_end_tick": 399,
"relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/lag_3",
"selection_reason": "settle phase end with positive-lag actual-response review",
"sim_time_secs": 7.979999999999343,
"tick": 399
},
"phase_name": "settle",
"target_variants": [
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 399,
"frame_source": "canonical_replay_trace",
"lag_ms": 0.0,
"lag_ticks": 0,
"relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/target_lag_0",
"selection_reason": "settle target pose sampled at +0 ticks from phase end",
"sim_time_secs": 7.979999999999343,
"tick": 399
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 400,
"frame_source": "canonical_replay_trace",
"lag_ms": 20.0,
"lag_ticks": 1,
"relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/target_lag_1",
"selection_reason": "settle target pose sampled at +1 ticks from phase end",
"sim_time_secs": 7.999999999999341,
"tick": 400
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 401,
"frame_source": "canonical_replay_trace",
"lag_ms": 40.0,
"lag_ticks": 2,
"relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/target_lag_2",
"selection_reason": "settle target pose sampled at +2 ticks from phase end",
"sim_time_secs": 8.019999999999348,
"tick": 401
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 402,
"frame_source": "canonical_replay_trace",
"lag_ms": 60.0,
"lag_ticks": 3,
"relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/target_lag_3",
"selection_reason": "settle target pose sampled at +3 ticks from phase end",
"sim_time_secs": 8.039999999999354,
"tick": 402
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 403,
"frame_source": "canonical_replay_trace",
"lag_ms": 80.0,
"lag_ticks": 4,
"relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/target_lag_4",
"selection_reason": "settle target pose sampled at +4 ticks from phase end",
"sim_time_secs": 8.059999999999361,
"tick": 403
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 404,
"frame_source": "canonical_replay_trace",
"lag_ms": 100.0,
"lag_ticks": 5,
"relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/target_lag_5",
"selection_reason": "settle target pose sampled at +5 ticks from phase end",
"sim_time_secs": 8.079999999999368,
"tick": 404
}
],
"timeline": {
"duration_secs": 1.0,
"duration_ticks": 50,
"end_tick": 399,
"midpoint_tick": 374,
"start_tick": 350
}
}
Diagnostics
Generic evidence checkpoints stay available as secondary diagnostics instead of the primary story.
start
initial state before meaningful motion
first_motion
first mean joint delta >= 0.08 rad (0.095 rad)
furthest_progress
largest planar displacement from start (0.555 m)
fallback_mid_25
deterministic fallback at 25% of the replay because the evidence checkpoints collapsed to the same frame
final
final recorded simulator state
