Currently a free agent, Antonio is working his way back to full fitness after a car accident left him with career-threatening injuries.
Hammers coach Mark Robson was delighted having Antonio involved with his young team on the night.
He told the club's website: "That was a great experience for them. I was really pleased, I thought we worked really hard tonight. He had a really good 45 minutes, following on from his work with Jamaica in the Gold Cup.
"It was great to have Micky there tonight and obviously he took both his goals very well. A fantastic experience for the boys, just being around him. He was talking to them, he was helping them.
"I'm really pleased with his overall work ethic and I thought we looked really good tonight. It was really pleasing to have him there and I think it definitely rubbed off on the boys”