MODELSONIC motion-tracking on the Unitree-exact H2 body
GEOMETRYLoading official H2 meshes
CONTROLLIVE: SONIC TRACKING CHECKPOINT · SKILL: RODDICK SERVE (REFERENCE TRACKING)
What is real? Real: official MuJoCo engine stepping the Unitree-exact H2 body at 200Hz, driven live by the SONIC motion-tracking checkpoint (1.97M steps) running in-browser on its training observation contract (1670-dim). SONIC tracks a reference clip; the current skill is a Roddick serve, tracked in a loop. More clips land as they are retargeted and validated. The display skin is cosmetic STL mapped onto the real physics bodies.
Honest limits: early skills for now - the robot tracks a Roddick serve reference in a loop; more clips land as they are retargeted and validated. First visit downloads a 59MB policy, so the mode can take a few minutes to appear. v5 ball training continues with slip/drift/twitch penalties and a hard stage-1 gate.
REAL MODEL. REAL PHYSICS.
REAL MODEL. REAL PHYSICS.
The live robot above is the SONIC motion-tracking checkpoint (1.97M steps) on the new Unitree-exact H2 body - real MuJoCo physics, real tracking policy, running entirely in your browser. Today it tracks its first stroke: a Roddick serve reference, looping. More clips follow as they are retargeted and validated. Drag to orbit.
ATH - Association of Tennis Humanoids Building toward physics-first humanoid tennis: pro footwork, spin-aware ball flight, drills, serves, and match play.