---
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).