GEAR-SONIC Reference Motion
Real published GEAR-Sonic encoder+decoder tracking on the official `macarena_001__A545` clip, running inside the MuJoCo-backed G1 showcase with the upstream heading-corrected reference orientation contract. This page records the exact blocker and any missing assets.
GEAR-SONIC Reference Motion
NVIDIA GR00T · Published G1 reference-motion tracking with explicit upper-body motion from the official example clip
gear_sonic_tracking · family gear_sonic
BLOCKED REAL MUJOCO SIM REFERENCE_MOTION_TRACKING
Real published GEAR-Sonic encoder+decoder tracking on the official `macarena_001__A545` clip, running inside the MuJoCo-backed G1 showcase with the upstream heading-corrected reference orientation contract.
Case key
gear_sonic_tracking
Policy family
gear_sonic
Command kind
reference_motion_tracking
Expected behavior
Published G1 reference-motion tracking with explicit upper-body motion from the official example clip
Status
Blocked
Showcase transport
MuJoCo sim
Embodiment
assets/robots/unitree_g1/g1_29dof.xml
MuJoCo model variant
-
Checkpoint source
Published GEAR-Sonic ONNX checkpoints plus pinned official reference-motion CSVs
Demo family
Reference / pose tracking
Demo sequence
Autoplays the official `macarena_001__A545` reference clip to showcase clip-backed upper-body tracking instead of a standing placeholder.
Model artifact
models/gear-sonic/reference/example/macarena_001__A545
Config
configs/showcase/gear_sonic_tracking_real.toml
Why blocked: Requires the published GEAR-Sonic checkpoints and the official reference clip payloads. Run scripts/download_gear_sonic_models.sh and scripts/download_gear_sonic_reference_motions.sh first.
Missing required paths
models/gear-sonic/reference/example/macarena_001__A545/joint_pos.csvmodels/gear-sonic/reference/example/macarena_001__A545/joint_vel.csvmodels/gear-sonic/reference/example/macarena_001__A545/body_quat.csv