One humanoid. Whole-body control.
Editing coordinates selects the experimental browser planner. Courses use native contact-flow references. Start applies positions to a fresh task.
OmniContact’s released transformer controls 29 joints through live MuJoCo physics. This website integrates pretrained research; no training was performed here.
Carry & Place moves a 2 kg box between physical platforms. Push uses the released box scene with casters (8 kg main body, plus wheels). Courses use contact-flow references generated by the native planner. Custom coordinates use the older browser planner and may miss the goal. References guide the policy; they are not robot animations. The box has no artificial attachment, upright correction or automatic replanning. Falls and dropped objects stay visible. Each task pauses at the native reference endpoint; Start begins a fresh task.
Drag the scene to orbit. Pinch or scroll to zoom. Change coordinates, then press Start. Push buttons apply real forces for 0.18 simulated seconds. Phone performance varies; simulation may run slower than wall time.
OmniContact source · Credits & licensing · Walking playground