— s50 Hz source29 controlled DoF
H2 reference targets for the H2 controller.
Rendered pose comes from the simulator after policy inference and contact dynamics.
Forward up to 0.8 m/s; strafe/backward up to 0.8 m/s.
Requested planner speed; measured speed may differ.
Hold WS to move forward/backward and AD to strafe. Arrow keys also move. Combine directions; QE turn independently. Release to brake.
vx 0.0vy 0.0turn 0.0
Local reference targets drive the real H2 policy and contact physics. The full neural planner is not running in this browser.