| --- |
| license: other |
| license_name: nvidia-open-model-agreement |
| license_link: https://www.nvidia.com/en-us/agreements/enterprise-software/nvidia-open-model-agreement/ |
| library_name: unity-sentis |
| pipeline_tag: other |
| base_model: nvidia/MotionBricks |
| tags: |
| - unity |
| - unity-inference-engine |
| - unity-sentis |
| - onnx |
| - motionbricks |
| - motion-generation |
| - animation |
| - robotics |
| --- |
| |
| # MotionBricks for Unity Inference Engine |
|
|
| [NVIDIA MotionBricks](https://huggingface.co/nvidia/MotionBricks) models for Unity's Inference Engine |
| (formerly Sentis). MotionBricks generates motion in real time for humanoid robots and human characters: give |
| it the character's recent poses and the poses it should reach next, and it generates the movement between |
| them. |
|
|
| The Unity package [`tools.doji.motionbricks`](https://docs.doji-tech.com/tools.doji.motionbricks) runs |
| these models. It downloads them with AI Model Hub (`tools.doji.model-hub`), so you do not need to |
| download them yourself. |
|
|
| ## Files |
|
|
| | File | Model | Size | |
| | --- | --- | --- | |
| | `sentis/motionbricks_soma_fp32.sentis` | SOMA: human motion on the SOMA skeleton (MotionBricks-SOMA-RP-v1). | 757 MB | |
| | `sentis/motionbricks_unitree_g1_fp32.sentis` | Unitree G1 humanoid robot (MotionBricks-G1-RP-v1). | 733 MB | |
| | `onnx/motionbricks_soma_fp32.onnx` | The SOMA model as ONNX. | 758 MB | |
| | `onnx/motionbricks_unitree_g1_fp32.onnx` | The Unitree G1 model as ONNX. | 734 MB | |
|
|
| The `.sentis` files load without conversion. They were saved with Inference Engine 2.6.1 from the ONNX |
| files; each has a `.sentis.json` record with the Unity and Inference Engine versions, inputs and outputs. |
| The ONNX files are the source: import them when your Inference Engine version does not load the `.sentis` |
| files, or to choose your own conversion settings. Each has an `.export.json` report: the upstream source and |
| checksum, the changes, the inputs and outputs, and the operators. `SHA256SUMS` lists the checksums of every |
| file. |
|
|
| The tag `v1` marks the files a package release uses. Later uploads get a new tag. |
|
|
| ## Source and changes |
|
|
| Both models come from the ONNX exports in the |
| [MotionBricks software](https://github.com/NVlabs/motionbricks) at revision |
| `54fc563aeaaf819a753d72cc9fdc6713989cdd43` (`motionbricks/assets/onnx/`). They are FP32 graphs at opset 17. |
|
|
| - **SOMA:** unchanged (`mmm_v6_soma_fp32.onnx`). |
| - **Unitree G1:** one traced squeeze-guard `If` node is replaced by the equivalent `Squeeze`, which |
| Inference Engine supports. The outputs are unchanged (`mmm_v6_g1_fp32.onnx`). |
|
|
| The weights are not quantized. With Inference Engine weight quantization, Float16 halves the size with the same |
| output and GPU speed but is about 4 times slower on the CPU backend; Uint8 changes the output too much to use. |
| Upstream also ships mixed FP16 graphs. Inference Engine converts FP16 weights to FP32 on import, so they are not |
| faster and are not included. |
|
|
| ## Use in Unity |
|
|
| Add `tools.doji.motionbricks` to your project. Download the SOMA model in **Window > AI Model Hub**, or let |
| the first MotionBricks component that starts download it. The Unitree G1 model is optional: turn it on in AI |
| Model Hub. |
|
|
| ```csharp |
| using Doji.AI.MotionBricks; |
| using Unity.InferenceEngine; |
| |
| Model model = await MotionBricksModels.LoadAsync(); // SOMA |
| Model robot = await MotionBricksModels.LoadAsync(MotionBricksModels.UnitreeG1); |
| ``` |
|
|
| ## License |
|
|
| The models are licensed by NVIDIA Corporation under the |
| [NVIDIA Open Model Agreement](https://www.nvidia.com/en-us/agreements/enterprise-software/nvidia-open-model-agreement/), |
| which permits commercial use and redistribution of modified models, subject to its terms. |
|
|
| This repository contains only the models. It does not contain the MotionBricks sample motions or training |
| data. The MotionBricks software uses the Apache 2.0 license. |
|
|
| ## Citation |
|
|
| To cite MotionBricks, see the [project page](https://nvlabs.github.io/motionbricks/) and the |
| [paper](https://arxiv.org/abs/2604.24833). |
|
|
