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latency-sensitive-bench/g1-sonic-assets

LatencyBench G1 SONIC assets Runtime MuJoCo assets for the LatencyBench G1SonicRun-v0 environment. The bundle contains the official SONIC-aligned Unitree G1 29-DoF-with-hand XML and meshes, plus the LatencyBench Run scene used to exercise the controller. Provenance and licensing g1_29dof_with_hand.xml and meshes/ are copied unchanged from NVIDIA's NVlabs/GR00T-WholeBodyControl at commit a0732b642c0333077e127a2f56ab0014c196bca4. SONIC_LICENSE is the upstream… See the full description on the dataset page: https://huggingface.co/datasets/latency-sensitive-bench/g1-sonic-assets.

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LatencyBench G1 SONIC assets

Runtime MuJoCo assets for the LatencyBench G1SonicRun-v0 environment. The bundle contains the official SONIC-aligned Unitree G1 29-DoF-with-hand XML and meshes, plus the LatencyBench Run scene used to exercise the controller.

Provenance and licensing

g1_29dof_with_hand.xml and meshes/ are copied unchanged from NVIDIA's `NVlabs/GR00T-WholeBodyControl` at commit a0732b642c0333077e127a2f56ab0014c196bca4. SONIC_LICENSE is the upstream license notice and must accompany redistribution. scene_run.xml is a LatencyBench-authored MuJoCo scene that references those upstream meshes. See SOURCE.md for the source paths and ownership boundary.

This dataset contains robot geometry and scene files only. SONIC model weights are distributed separately by NVIDIA at `nvidia/GEAR-SONIC`.