ZeyuLing/motius-motionbricks-g1

MotionBricks G1 — Legacy Navigation Artifact

This is the earlier GR00T-WholeBodyControl G1 preview checkpoint, retained for MotionBricksBundle / MotionBricksPipeline navigation compatibility. It is not the independent MotionBricks RP-v1 native release.

For the new native PyTorch pose-conditioned release, use:

• G1 RP v1
• SOMA RP v1

Those artifacts contain native SafeTensors roots, normalization, unified loader metadata, complete model cards and independent official-source parity evidence.

Legacy Usage

Install the optional legacy runtime dependencies with pip install -e ".[motionbricks]".

from motius import Pipeline

pipe = Pipeline.from_pretrained(
    "ZeyuLing/motius-motionbricks-g1",
    bundle_kwargs={"device": "cuda"},
    controller="random",
)
result = pipe.infer_g1_qpos_generation(steps=240, seed=1234)
qpos = result["qpos"]  # (T,36), MuJoCo WXYZ root quaternion, 30 fps

The original legacy checkpoint layout, primitive clips and weight files are unchanged. Conditions and representations differ from RP-v1; do not mix the two artifact layouts. The original checkpoint and dataset license terms continue to apply. Legacy source parity refers to GR00T-WholeBodyControl commit 45c03facbf848e0c743091b7d9c17952096ff908, not the new SOMA release.