Gemini-driven humanoid nails ball-through-hole trick: Real2Sim, ZMP balance and 3D clearance breakdown
ki_ki_ki1 · x · 2026-10-14
Developer kikiki1 posted a multi-part technical breakdown of how his Apollo 2 humanoid, reasoning via Gemini, pulled off a ball-through-a-15cm-hole toss trick:
- Real2Sim: Gemini reconstructs the lab in MuJoCo, splitting the board into 12 convex hulls so the 15 cm hole stays open; solving projectile motion + friction yields a 4.55 m/s throw landing 17 cm ahead of the hole, sliding right in.
- Whole-body ZMP balance: swinging at 5.16 rad/s creates huge reaction torque; three iterations — heel lift (unsafe), 22 cm stance (1.2 cm ZMP margin, near tip-over), and a 52 cm wide diagonal stance giving +7.2 cm margin with 31% less torque.
- Sim2Real & clearance: the 22-DoF Sharpa hand cradles the bag palm-up; a 1D bone check falsely reported 14.2 cm gap while the 3D thigh shell was only 0.47 cm away — a 3D KD-Tree shifts roll -9.2° for 9.8 cm clearance.
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